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

Interface UnknownBiasNonLinearGyroscopeCalibrator

All Superinterfaces:

UnknownBiasGyroscopeCalibrator

All Known Implementing Classes:

KnownFrameGyroscopeNonLinearLeastSquaresCalibrator, LMedSRobustKnownFrameGyroscopeCalibrator, MSACRobustKnownFrameGyroscopeCalibrator, PROMedSRobustKnownFrameGyroscopeCalibrator, PROSACRobustKnownFrameGyroscopeCalibrator, RANSACRobustKnownFrameGyroscopeCalibrator, RobustKnownFrameGyroscopeCalibrator

public interface UnknownBiasNonLinearGyroscopeCalibrator
extends UnknownBiasGyroscopeCalibrator

Interface for non-linear gyroscope calibrator where bias is unknown and needs to be estimated.

Method Summary

Modifier and Type	Method	Description
double[]	getInitialBias()	Gets initial bias to be used to find a solution as an array.
void	getInitialBias(double[] result)	Gets initial bias to be used to find a solution as an array.
com.irurueta.units.AngularSpeed	getInitialBiasAngularSpeedX()	Gets initial x-coordinate of gyroscope bias to be used to find a solution.
void	getInitialBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)	Gets initial x-coordinate of gyroscope bias to be used to find a solution.
com.irurueta.units.AngularSpeed	getInitialBiasAngularSpeedY()	Gets initial y-coordinate of gyroscope bias to be used to find a solution.
void	getInitialBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)	Gets initial y-coordinate of gyroscope bias to be used to find a solution.
com.irurueta.units.AngularSpeed	getInitialBiasAngularSpeedZ()	Gets initial z-coordinate of gyroscope bias to be used to find a solution.
void	getInitialBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)	Gets initial z-coordinate of gyroscope bias to be used to find a solution.
com.irurueta.algebra.Matrix	getInitialBiasAsMatrix()	Gets initial bias to be used to find a solution as a column matrix.
void	getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)	Gets initial bias to be used to find a solution as a column matrix.
AngularSpeedTriad	getInitialBiasAsTriad()	Gets initial bias coordinates of gyroscope used to find a solution.
void	getInitialBiasAsTriad(AngularSpeedTriad result)	Gets initial bias coordinates of gyroscope used to find a solution.
double	getInitialBiasX()	Gets initial x-coordinate of gyroscope bias to be used to find a solution.
double	getInitialBiasY()	Gets initial y-coordinate of gyroscope bias to be used to find a solution.
double	getInitialBiasZ()	Gets initial z-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBias(double[] initialBias)	Sets initial bias to be used to find a solution as an array.
void	setInitialBias(double initialBiasX, double initialBiasY, double initialBiasZ)	Sets initial bias coordinates of gyroscope used to find a solution expressed in radians per second (rad/s).
void	setInitialBias(com.irurueta.algebra.Matrix initialBias)	Sets initial bias to be used to find a solution as an array.
void	setInitialBias(AngularSpeedTriad initialBias)	Sets initial bias coordinates of gyroscope used to find a solution.
void	setInitialBias(com.irurueta.units.AngularSpeed initialBiasX, com.irurueta.units.AngularSpeed initialBiasY, com.irurueta.units.AngularSpeed initialBiasZ)	Sets initial bias coordinates of gyroscope used to find a solution.
void	setInitialBiasX(double initialBiasX)	Sets initial x-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasX(com.irurueta.units.AngularSpeed initialBiasX)	Sets initial x-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasY(double initialBiasY)	Sets initial y-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasY(com.irurueta.units.AngularSpeed initialBiasY)	Sets initial y-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasZ(double initialBiasZ)	Sets initial z-coordinate of gyroscope bias to be used to find a solution.
void	setInitialBiasZ(com.irurueta.units.AngularSpeed initialBiasZ)	Sets initial z-coordinate of gyroscope bias to be used to find a solution.

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

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

Method Details

getInitialBiasX

double getInitialBiasX()

Gets initial x-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

Returns:

initial x-coordinate of gyroscope bias.

setInitialBiasX

void setInitialBiasX(double initialBiasX)
              throws com.irurueta.navigation.LockedException

Sets initial x-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

Throws:

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

getInitialBiasY

double getInitialBiasY()

Gets initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

Returns:

initial y-coordinate of gyroscope bias.

setInitialBiasY

void setInitialBiasY(double initialBiasY)
              throws com.irurueta.navigation.LockedException

Sets initial y-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

Parameters:

initialBiasY - initial y-coordinate of gyroscope bias.

Throws:

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

getInitialBiasZ

double getInitialBiasZ()

Gets initial z-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

Returns:

initial z-coordinate of gyroscope bias.

setInitialBiasZ

void setInitialBiasZ(double initialBiasZ)
              throws com.irurueta.navigation.LockedException

Sets initial z-coordinate of gyroscope bias to be used to find a solution. This is expressed in radians per second (rad/s).

Parameters:

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

getInitialBiasAngularSpeedX

com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedX()

Gets initial x-coordinate of gyroscope bias to be used to find a solution.

Returns:

initial x-coordinate of gyroscope bias.

getInitialBiasAngularSpeedX

void getInitialBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)

Gets initial x-coordinate of gyroscope bias to be used to find a solution.

Parameters:

result - instance where result data will be stored.

setInitialBiasX

void setInitialBiasX(com.irurueta.units.AngularSpeed initialBiasX)
              throws com.irurueta.navigation.LockedException

Sets initial x-coordinate of gyroscope bias to be used to find a solution.

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

Throws:

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

getInitialBiasAngularSpeedY

com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedY()

Gets initial y-coordinate of gyroscope bias to be used to find a solution.

Returns:

initial y-coordinate of gyroscope bias.

getInitialBiasAngularSpeedY

void getInitialBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)

Gets initial y-coordinate of gyroscope bias to be used to find a solution.

Parameters:

result - instance where result data will be stored.

setInitialBiasY

void setInitialBiasY(com.irurueta.units.AngularSpeed initialBiasY)
              throws com.irurueta.navigation.LockedException

Sets initial y-coordinate of gyroscope bias to be used to find a solution.

Parameters:

initialBiasY - initial y-coordinate of gyroscope bias.

Throws:

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

getInitialBiasAngularSpeedZ

com.irurueta.units.AngularSpeed getInitialBiasAngularSpeedZ()

Gets initial z-coordinate of gyroscope bias to be used to find a solution.

Returns:

initial z-coordinate of gyroscope bias.

getInitialBiasAngularSpeedZ

void getInitialBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)

Gets initial z-coordinate of gyroscope bias to be used to find a solution.

Parameters:

result - instance where result data will be stored.

setInitialBiasZ

void setInitialBiasZ(com.irurueta.units.AngularSpeed initialBiasZ)
              throws com.irurueta.navigation.LockedException

Sets initial z-coordinate of gyroscope bias to be used to find a solution.

Parameters:

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

setInitialBias

void setInitialBias(double initialBiasX,
 double initialBiasY,
 double initialBiasZ)
             throws com.irurueta.navigation.LockedException

Sets initial bias coordinates of gyroscope used to find a solution expressed in radians per second (rad/s).

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

initialBiasY - initial y-coordinate of gyroscope bias.

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

setInitialBias

void setInitialBias(com.irurueta.units.AngularSpeed initialBiasX,
 com.irurueta.units.AngularSpeed initialBiasY,
 com.irurueta.units.AngularSpeed initialBiasZ)
             throws com.irurueta.navigation.LockedException

Sets initial bias coordinates of gyroscope used to find a solution.

Parameters:

initialBiasX - initial x-coordinate of gyroscope bias.

initialBiasY - initial y-coordinate of gyroscope bias.

initialBiasZ - initial z-coordinate of gyroscope bias.

Throws:

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

getInitialBias

double[] getInitialBias()

Gets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).

Returns:

array containing coordinates of initial bias.

getInitialBias

void getInitialBias(double[] result)

Gets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided array does not have length 3.

setInitialBias

void setInitialBias(double[] initialBias)
             throws com.irurueta.navigation.LockedException

Sets initial bias to be used to find a solution as an array. Array values are expressed in radians per second (rad/s).

Parameters:

initialBias - initial bias to find a solution.

Throws:

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

IllegalArgumentException - if provided array does not have length 3.

getInitialBiasAsMatrix

com.irurueta.algebra.Matrix getInitialBiasAsMatrix()

Gets initial bias to be used to find a solution as a column matrix.

Returns:

initial bias to be used to find a solution as a column matrix.

getInitialBiasAsMatrix

void getInitialBiasAsMatrix(com.irurueta.algebra.Matrix result)

Gets initial bias to be used to find a solution as a column matrix.

Parameters:

result - instance where result data will be copied to.

Throws:

IllegalArgumentException - if provided matrix is not 3x1.

setInitialBias

void setInitialBias(com.irurueta.algebra.Matrix initialBias)
             throws com.irurueta.navigation.LockedException

Sets initial bias to be used to find a solution as an array.

Parameters:

initialBias - initial bias to find a solution.

Throws:

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

IllegalArgumentException - if provided matrix is not 3x1.

getInitialBiasAsTriad

AngularSpeedTriad getInitialBiasAsTriad()

Gets initial bias coordinates of gyroscope used to find a solution.

Returns:

initial bias coordinates.

getInitialBiasAsTriad

void getInitialBiasAsTriad(AngularSpeedTriad result)

Gets initial bias coordinates of gyroscope used to find a solution.

Parameters:

result - instance where result will be stored.

setInitialBias

void setInitialBias(AngularSpeedTriad initialBias)
             throws com.irurueta.navigation.LockedException

Sets initial bias coordinates of gyroscope used to find a solution.

Parameters:

initialBias - initial bias coordinates to be set.

Throws:

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