Package com.irurueta.navigation.inertial.calibration.gyroscope

Interface KnownFrameGyroscopeCalibrator<T extends FrameBodyKinematics,L extends KnownFrameGyroscopeCalibratorListener<?>>

All Superinterfaces:

GyroscopeCalibrator, UnknownBiasGyroscopeCalibrator

All Known Implementing Classes:

KnownFrameGyroscopeLinearLeastSquaresCalibrator, KnownFrameGyroscopeNonLinearLeastSquaresCalibrator

public interface KnownFrameGyroscopeCalibrator<T extends FrameBodyKinematics,L extends KnownFrameGyroscopeCalibratorListener<?>>
extends UnknownBiasGyroscopeCalibrator, GyroscopeCalibrator

Interface defining gyroscope calibrators to estimate biases, cross coupling and scaling factors and g-dependant cross biases.

Method Summary

Modifier and Type	Method	Description
L	getListener()	Gets listener to handle events raised by this calibrator.
Collection<T>	getMeasurements()	Gets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).
void	setListener(L listener)	Sets listener to handle events raised by this calibrator.
void	setMeasurements(Collection<? extends T> measurements)	Sets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

Methods inherited from interface com.irurueta.navigation.inertial.calibration.gyroscope.GyroscopeCalibrator

calibrate, getEstimatedGg, getEstimatedMg, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getMeasurementOrSequenceType, getMinimumRequiredMeasurementsOrSequences, isCommonAxisUsed, isOrderedMeasurementsOrSequencesRequired, isQualityScoresRequired, isReady, isRunning, setCommonAxisUsed

Methods inherited from interface com.irurueta.navigation.inertial.calibration.gyroscope.UnknownBiasGyroscopeCalibrator

getEstimatedBiasAngularSpeedX, getEstimatedBiasAngularSpeedX, getEstimatedBiasAngularSpeedY, getEstimatedBiasAngularSpeedY, getEstimatedBiasAngularSpeedZ, getEstimatedBiasAngularSpeedZ, getEstimatedBiasAsTriad, getEstimatedBiasAsTriad, getEstimatedBiases, getEstimatedBiases, getEstimatedBiasesAsMatrix, getEstimatedBiasesAsMatrix, getEstimatedBiasX, getEstimatedBiasY, getEstimatedBiasZ

Method Details

getMeasurements

Collection<T> getMeasurements()

Gets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Returns:

a collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

setMeasurements

void setMeasurements(Collection<? extends T> measurements)
              throws com.irurueta.navigation.LockedException

Sets a collection of body kinematics measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.

Parameters:

measurements - collection of body kinematics measurements taken at different frames (positions, orientations and velocities).

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.

getListener

L getListener()

Gets listener to handle events raised by this calibrator.

Returns:

listener to handle events raised by this calibrator.

setListener

void setListener(L listener)
          throws com.irurueta.navigation.LockedException

Sets listener to handle events raised by this calibrator.

Parameters:

listener - listener to handle events raised by this calibrator.

Throws:

com.irurueta.navigation.LockedException - if calibrator is currently running.