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

Class QuaternionIntegrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.QuaternionIntegrator

public class QuaternionIntegrator
extends Object

Class in charge of performing integration steps of rotations. This implementation uses a Runge-Kutta integration algorithm to obtain accurate results on EasyGyroscopeCalibrator

Constructor Summary

Constructors

Modifier	Constructor	Description
private	QuaternionIntegrator()	Constructor.

Method Summary

Modifier and Type	Method	Description
static void	integrateGyroSequence(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence, com.irurueta.geometry.Quaternion initialAttitude, QuaternionStepIntegratorType type, com.irurueta.geometry.Quaternion result)	Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at an initial attitude to obtain a final attitude.
static void	integrateGyroSequence(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence, QuaternionStepIntegratorType type, com.irurueta.geometry.Quaternion result)	Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at the identity attitude to obtain a final attitude.
static com.irurueta.geometry.Quaternion	integrateGyroSequenceAndReturnNew(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence, com.irurueta.geometry.Quaternion initialAttitude, QuaternionStepIntegratorType type)	Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at an initial attitude to obtain a final attitude.
static com.irurueta.geometry.Quaternion	integrateGyroSequenceAndReturnNew(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence, QuaternionStepIntegratorType type)	Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at the identity attitude to obtain a final attitude.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

QuaternionIntegrator

private QuaternionIntegrator()

Constructor. Prevents instantiation of helper class.

Method Details

integrateGyroSequence

public static void integrateGyroSequence(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence,
 com.irurueta.geometry.Quaternion initialAttitude,
 QuaternionStepIntegratorType type,
 com.irurueta.geometry.Quaternion result)
                                  throws com.irurueta.geometry.RotationException

Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at an initial attitude to obtain a final attitude.

Parameters:

sequence - sequence of gyroscope measurements to be integrated.

initialAttitude - (optional) initial attitude to be used. If null, then the identity attitude will be used.

type - type of step integrator to be used.

result - resulting rotation after integration.

Throws:

com.irurueta.geometry.RotationException - if a numerical error occurs.

integrateGyroSequence

public static void integrateGyroSequence(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence,
 QuaternionStepIntegratorType type,
 com.irurueta.geometry.Quaternion result)
                                  throws com.irurueta.geometry.RotationException

Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at the identity attitude to obtain a final attitude.

Parameters:

sequence - sequence of gyroscope measurements to be integrated.

type - type of step integrator to be used.

result - resulting rotation after integration.

Throws:

com.irurueta.geometry.RotationException - if a numerical error occurs.

integrateGyroSequenceAndReturnNew

public static com.irurueta.geometry.Quaternion integrateGyroSequenceAndReturnNew(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence,
 com.irurueta.geometry.Quaternion initialAttitude,
 QuaternionStepIntegratorType type)
                                                                          throws com.irurueta.geometry.RotationException

Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at an initial attitude to obtain a final attitude.

Parameters:

sequence - sequence of gyroscope measurements to be integrated.

initialAttitude - (optional) initial attitude to be used. If null, then the identity attitude will be used.

type - type of step integrator to be used.

Returns:

resulting rotation after integration.

Throws:

com.irurueta.geometry.RotationException - if a numerical error occurs.

integrateGyroSequenceAndReturnNew

public static com.irurueta.geometry.Quaternion integrateGyroSequenceAndReturnNew(BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence,
 QuaternionStepIntegratorType type)
                                                                          throws com.irurueta.geometry.RotationException

Integrates a sequence of gyroscope measurements contained within timed body kinematics, starting at the identity attitude to obtain a final attitude.

Parameters:

sequence - sequence of gyroscope measurements to be integrated.

type - type of step integrator to be used.

Returns:

resulting rotation after integration.

Throws:

com.irurueta.geometry.RotationException - if a numerical error occurs.