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

Class PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.gyroscope.RobustKnownBiasAndFrameGyroscopeCalibrator
com.irurueta.navigation.inertial.calibration.gyroscope.PROSACRobustKnownBiasAndFrameGyroscopeCalibrator
All Implemented Interfaces:
GyroscopeCalibrator, GyroscopeNonLinearCalibrator, KnownBiasGyroscopeCalibrator, OrderedStandardDeviationFrameBodyKinematicsGyroscopeCalibrator, QualityScoredGyroscopeCalibrator
public class PROSACRobustKnownBiasAndFrameGyroscopeCalibrator 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 PROSAC 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_THRESHOLD

      public static final double DEFAULT_THRESHOLD
      Constant defining default threshold to determine whether samples are inliers or not.
      See Also:

    • MIN_THRESHOLD

      public static final double MIN_THRESHOLD
      Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.
      See Also:

    • DEFAULT_COMPUTE_AND_KEEP_INLIERS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS
      Indicates that by default inliers will only be computed but not kept.
      See Also:

    • DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

      public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS
      Indicates that by default residuals will only be computed but not kept.
      See Also:

    • threshold

      private double threshold
      Threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

    • computeAndKeepInliers

      private boolean computeAndKeepInliers
      Indicates whether inliers must be computed and kept.

    • computeAndKeepResiduals

      private boolean computeAndKeepResiduals
      Indicates whether residuals must be computed and kept.

    • 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

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator()
      Constructor.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

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

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

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

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

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

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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).

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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).

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

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

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

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

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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.

    • PROSACRobustKnownBiasAndFrameGyroscopeCalibrator

      public PROSACRobustKnownBiasAndFrameGyroscopeCalibrator(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

    • getThreshold

      public double getThreshold()
      Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
      Returns:
      threshold to determine whether samples are inliers or not.

    • setThreshold

      public void setThreshold(double threshold) throws com.irurueta.navigation.LockedException
      Sets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
      Parameters:
      threshold - threshold to determine whether samples are inliers or not.
      Throws:
      IllegalArgumentException - if provided value is equal or less than zero.
      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.

    • isComputeAndKeepInliersEnabled

      public boolean isComputeAndKeepInliersEnabled()
      Indicates whether inliers must be computed and kept.
      Returns:
      true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

    • setComputeAndKeepInliersEnabled

      public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers) throws com.irurueta.navigation.LockedException
      Specifies whether inliers must be computed and kept.
      Parameters:
      computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isComputeAndKeepResiduals

      public boolean isComputeAndKeepResiduals()
      Indicates whether residuals must be computed and kept.
      Returns:
      true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

    • setComputeAndKeepResidualsEnabled

      public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals) throws com.irurueta.navigation.LockedException
      Specifies whether residuals must be computed and kept.
      Parameters:
      computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • 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.