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

Class PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator
com.irurueta.navigation.inertial.calibration.gyroscope.PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator
All Implemented Interfaces:
GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator
public class PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator extends RobustKnownBiasAndFrameGyroscopeCalibrator
Robustly estimates gyroscope cross couplings and scaling factors along with G-dependent cross biases introduced on the gyroscope by the specific forces sensed by the accelerometer using a PROMedS algorithm to discard outliers. This estimator assumes that biases are known.

To use this calibrator at least 6 measurements at different known frames must be provided. In other words, accelerometer and gyroscope (i.e. body kinematics) samples must be obtained at 6 different positions, orientations and velocities (although typically velocities are always zero).

Measured gyroscope angular rates is assumed to follow the model shown below: 

     Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w
Where: - Ωmeas is the measured gyroscope angular rates. This is a 3x1 vector. - bg is the gyroscope bias. Ideally, on a perfect gyroscope, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mg is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - Ωtrue is ground-truth gyroscope angular rates. - Gg is the G-dependent cross biases introduced by the specific forces sensed by the accelerometer. Ideally, on a perfect gyroscope, this should be a 3x3 zero matrix. - ftrue is ground-truth specific force. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector.

  • Field Details

    • DEFAULT_STOP_THRESHOLD

      public static final double DEFAULT_STOP_THRESHOLD
      Default value to be used for stop threshold. Stop threshold can be used to avoid keeping the algorithm unnecessarily iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      See Also:

    • MIN_STOP_THRESHOLD

      public static final double MIN_STOP_THRESHOLD
      Minimum allowed stop threshold value.
      See Also:

    • stopThreshold

      private double stopThreshold
      Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

    • qualityScores

      private double[] qualityScores
      Quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

  • Constructor Details

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator()
      Constructor.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasY - known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      biasZ - known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of gyroscope bias.
      biasY - known y coordinate of gyroscope bias.
      biasZ - known z coordinate of gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double[] bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided array does not have length 3 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

    • PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameGyroscopeCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known gyroscope bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1 or if provided quality scores length is smaller than 6 samples.

  • Method Details

    • getStopThreshold

      public double getStopThreshold()
      Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      Returns:
      stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

    • setStopThreshold

      public void setStopThreshold(double stopThreshold) throws com.irurueta.navigation.LockedException
      Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      Parameters:
      stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.
      Throws:
      IllegalArgumentException - if provided value is zero or negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      Specified by:
      getQualityScores in interface QualityScoredGyroscopeCalibrator
      Overrides:
      getQualityScores in class RobustKnownBiasAndFrameGyroscopeCalibrator
      Returns:
      quality scores corresponding to each sample.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      Specified by:
      setQualityScores in interface QualityScoredGyroscopeCalibrator
      Overrides:
      setQualityScores in class RobustKnownBiasAndFrameGyroscopeCalibrator
      Parameters:
      qualityScores - quality scores corresponding to each sample.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isReady

      public boolean isReady()
      Indicates whether solver is ready to find a solution.
      Specified by:
      isReady in interface GyroscopeCalibrator
      Overrides:
      isReady in class RobustKnownBiasAndFrameGyroscopeCalibrator
      Returns:
      true if solver is ready, false otherwise.

    • calibrate

      public void calibrate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException
      Estimates gyroscope calibration parameters containing bias, scale factors cross-coupling errors and g-dependant cross biases.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      com.irurueta.navigation.NotReadyException - if calibrator is not ready.
      CalibrationException - if estimation fails for numerical reasons.

    • getMethod

      public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Specified by:
      getMethod in class RobustKnownBiasAndFrameGyroscopeCalibrator
      Returns:
      method being used for robust estimation.

    • isQualityScoresRequired

      public boolean isQualityScoresRequired()
      Indicates whether this calibrator requires quality scores for each measurement/sequence or not.
      Returns:
      true if quality scores are required, false otherwise.

    • internalSetQualityScores

      private void internalSetQualityScores(double[] qualityScores)
      Sets quality scores corresponding to each provided sample. This method is used internally and does not check whether instance is locked or not.
      Parameters:
      qualityScores - quality scores to be set.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 6 samples.