Package com.irurueta.navigation.inertial.calibration.magnetometer

Class RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownMagneticFluxDensityNormMagnetometerCalibrator
All Implemented Interfaces:
MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator, UnknownHardIronMagnetometerCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator
Direct Known Subclasses:
LMedSRobustKnownMagneticFluxDensityNormMagnetometerCalibrator, MSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator, PROMedSRobustKnownMagneticFluxDensityNormMagnetometerCalibrator, PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator, RANSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator
public abstract class RobustKnownMagneticFluxDensityNormMagnetometerCalibrator extends Object implements MagnetometerNonLinearCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator, OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator
This is an abstract class to robustly estimate magnetometer hard-iron biases, cross couplings and scaling factors.

To use this calibrator at least 10 measurements taken at a single unknown position and instant must be taken at 10 different unknown orientations when common z-axis is assumed, otherwise at least 13 measurements are required.

Measured magnetic flux density is assumed to follow the model shown below: 

     mBmeas = bm + (I + Mm) * mBtrue + w
Where: - mBmeas is the measured magnetic flux density. This is a 3x1 vector. - bm is magnetometer hard-iron bias. Ideally, on a perfect magnetometer, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mm is the 3x3 soft-iron matrix containing cross-couplings and scaling factors. Ideally, on a perfect magnetometer, this should be a 3x3 zero matrix. - mBtrue is ground-truth magnetic flux density. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector. Notice that this calibrator assumes that all measurements are taken in a short span of time where Earth magnetic field can be assumed to be constant at provided location and instant.

  • Field Details

    • DEFAULT_USE_COMMON_Z_AXIS

      public static final boolean DEFAULT_USE_COMMON_Z_AXIS
      Indicates whether by default a common z-axis is assumed for the accelerometer, gyroscope and magnetometer.
      See Also:

    • MINIMUM_MEASUREMENTS_COMMON_Z_AXIS

      public static final int MINIMUM_MEASUREMENTS_COMMON_Z_AXIS
      Required minimum number of measurements when common z-axis is assumed.
      See Also:

    • MINIMUM_MEASUREMENTS_GENERAL

      public static final int MINIMUM_MEASUREMENTS_GENERAL
      Required minimum number of measurements for the general case.
      See Also:

    • DEFAULT_ROBUST_METHOD

      public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
      Default robust estimator method when none is provided.

    • DEFAULT_REFINE_RESULT

      public static final boolean DEFAULT_REFINE_RESULT
      Indicates that result is refined by default.
      See Also:

    • DEFAULT_KEEP_COVARIANCE

      public static final boolean DEFAULT_KEEP_COVARIANCE
      Indicates that covariance is kept by default after refining result.
      See Also:

    • DEFAULT_PROGRESS_DELTA

      public static final float DEFAULT_PROGRESS_DELTA
      Default amount of progress variation before notifying a change in estimation progress. By default this is set to 5%.
      See Also:

    • MIN_PROGRESS_DELTA

      public static final float MIN_PROGRESS_DELTA
      Minimum allowed value for progress delta.
      See Also:

    • MAX_PROGRESS_DELTA

      public static final float MAX_PROGRESS_DELTA
      Maximum allowed value for progress delta.
      See Also:

    • DEFAULT_CONFIDENCE

      public static final double DEFAULT_CONFIDENCE
      Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers.
      See Also:

    • DEFAULT_MAX_ITERATIONS

      public static final int DEFAULT_MAX_ITERATIONS
      Default maximum allowed number of iterations.
      See Also:

    • MIN_CONFIDENCE

      public static final double MIN_CONFIDENCE
      Minimum allowed confidence value.
      See Also:

    • MAX_CONFIDENCE

      public static final double MAX_CONFIDENCE
      Maximum allowed confidence value.
      See Also:

    • MIN_ITERATIONS

      public static final int MIN_ITERATIONS
      Minimum allowed number of iterations.
      See Also:

    • measurements

      protected List<StandardDeviationBodyMagneticFluxDensity> measurements
      Contains a list of body magnetic flux density measurements taken at a given position with different unknown orientations and containing the standard deviation of magnetometer measurements.

    • listener

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener
      Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.

    • running

      protected boolean running
      Indicates whether estimator is running.

    • progressDelta

      protected float progressDelta
      Amount of progress variation before notifying a progress change during calibration.

    • confidence

      protected double confidence
      Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.

    • maxIterations

      protected int maxIterations
      Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.

    • inliersData

      protected com.irurueta.numerical.robust.InliersData inliersData
      Data related to inlier found after calibration.

    • refineResult

      protected boolean refineResult
      Indicates whether result must be refined using a non linear calibrator over found inliers. If true, inliers will be computed and kept in any implementation regardless of the settings.

    • preliminarySubsetSize

      protected int preliminarySubsetSize
      Size of subsets to be checked during robust estimation.

    • commonAxisUsed

      private boolean commonAxisUsed
      This flag indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from soft-iron (Mm) matrix.

    • estimatedHardIron

      private double[] estimatedHardIron
      Estimated magnetometer hard-iron biases for each magnetometer axis expressed in Teslas (T).

    • estimatedMm

      private com.irurueta.algebra.Matrix estimatedMm
      Estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat: 
           Mm = [sx    mxy  mxz] = Tm*Km
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Km = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tm = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal: 
           Mm = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.

    • keepCovariance

      private boolean keepCovariance
      Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.

    • estimatedCovariance

      private com.irurueta.algebra.Matrix estimatedCovariance
      Estimated covariance matrix for estimated parameters.

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedMse

      private double estimatedMse
      Estimated mean square error respect to provided measurements.

    • initialHardIronX

      private double initialHardIronX
      Initial x-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

    • initialHardIronY

      private double initialHardIronY
      Initial y-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

    • initialHardIronZ

      private double initialHardIronZ
      Initial z-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).

    • initialSx

      private double initialSx
      Initial x scaling factor.

    • initialSy

      private double initialSy
      Initial y scaling factor.

    • initialSz

      private double initialSz
      Initial z scaling factor.

    • initialMxy

      private double initialMxy
      Initial x-y cross coupling error.

    • initialMxz

      private double initialMxz
      Initial x-z cross coupling error.

    • initialMyx

      private double initialMyx
      Initial y-x cross coupling error.

    • initialMyz

      private double initialMyz
      Initial y-z cross coupling error.

    • initialMzx

      private double initialMzx
      Initial z-x cross coupling error.

    • initialMzy

      private double initialMzy
      Initial z-y cross coupling error.

    • groundTruthMagneticFluxDensityNorm

      protected Double groundTruthMagneticFluxDensityNorm
      Ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).

    • innerCalibrator

      private final KnownMagneticFluxDensityNormMagnetometerCalibrator innerCalibrator
      Inner calibrator to compute calibration for each subset of data or during final refining.

    • identity

      protected com.irurueta.algebra.Matrix identity
      Contains 3x3 identify to be reused.

    • tmp1

      protected com.irurueta.algebra.Matrix tmp1
      Contains 3x3 temporary matrix.

    • tmp2

      protected com.irurueta.algebra.Matrix tmp2
      Contains 3x3 temporary matrix.

    • tmp3

      protected com.irurueta.algebra.Matrix tmp3
      Contains 3x1 temporary matrix.

    • tmp4

      protected com.irurueta.algebra.Matrix tmp4
      Contains 3x1 temporary matrix.

  • Constructor Details

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator()
      Constructor.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to handle events raised by this calibrator.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      measurements - list of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(double[] initialHardIron)
      Constructor.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, double[] initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • RobustKnownMagneticFluxDensityNormMagnetometerCalibrator

      protected RobustKnownMagneticFluxDensityNormMagnetometerCalibrator(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

  • Method Details

    • getGroundTruthMagneticFluxDensityNorm

      public Double getGroundTruthMagneticFluxDensityNorm()
      Gets ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).
      Returns:
      ground truth magnetic flux density or null.

    • getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity()
      Gets ground truth magnetic flux density norm to be expected at location where measurements have been made.
      Returns:
      ground truth magnetic flux density or null.

    • getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity

      public boolean getGroundTruthMagneticFluxDensityNormAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets ground truth magnetic flux density norm to be expected at location where measurements have been made.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if ground truth magnetic flux density norm has been defined, false if it is not available yet.

    • setGroundTruthMagneticFluxDensityNorm

      public void setGroundTruthMagneticFluxDensityNorm(Double groundTruthMagneticFluxDensityNorm) throws com.irurueta.navigation.LockedException
      Sets ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setGroundTruthMagneticFluxDensityNorm

      public void setGroundTruthMagneticFluxDensityNorm(com.irurueta.units.MagneticFluxDensity groundTruthMagneticFluxDensityNorm) throws com.irurueta.navigation.LockedException
      Sets ground truth magnetic flux density norm to be expected at location where measurements have been made.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIronX

      public double getInitialHardIronX()
      Gets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
      Specified by:
      getInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial x-coordinate of magnetometer hard-iron bias.

    • setInitialHardIronX

      public void setInitialHardIronX(double initialHardIronX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
      Specified by:
      setInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronX - initial x-coordinate of magnetometer hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIronY

      public double getInitialHardIronY()
      Gets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
      Specified by:
      getInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial y-coordinate of magnetometer hard-iron bias.

    • setInitialHardIronY

      public void setInitialHardIronY(double initialHardIronY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
      Specified by:
      setInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronY - initial y-coordinate of magnetometer hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIronZ

      public double getInitialHardIronZ()
      Gets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
      Specified by:
      getInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial z-coordinate of magnetometer hard-iron bias.

    • setInitialHardIronZ

      public void setInitialHardIronZ(double initialHardIronZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in meters Teslas (T).
      Specified by:
      setInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronZ - initial z-coordinate of magnetometer hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIronXAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getInitialHardIronXAsMagneticFluxDensity()
      Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      getInitialHardIronXAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial x-coordinate of magnetometer hard-iron bias.

    • getInitialHardIronXAsMagneticFluxDensity

      public void getInitialHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      getInitialHardIronXAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setInitialHardIronX

      public void setInitialHardIronX(com.irurueta.units.MagneticFluxDensity initialHardIronX) throws com.irurueta.navigation.LockedException
      Sets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      setInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronX - initial x-coordinate of magnetometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIronYAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getInitialHardIronYAsMagneticFluxDensity()
      Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      getInitialHardIronYAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial y-coordinate of magnetometer hard-iron bias.

    • getInitialHardIronYAsMagneticFluxDensity

      public void getInitialHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      getInitialHardIronYAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setInitialHardIronY

      public void setInitialHardIronY(com.irurueta.units.MagneticFluxDensity initialHardIronY) throws com.irurueta.navigation.LockedException
      Sets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      setInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronY - initial y-coordinate of magnetometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIronZAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getInitialHardIronZAsMagneticFluxDensity()
      Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      getInitialHardIronZAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial z-coordinate of magnetometer hard-iron bias.

    • getInitialHardIronZAsMagneticFluxDensity

      public void getInitialHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      getInitialHardIronZAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setInitialHardIronZ

      public void setInitialHardIronZ(com.irurueta.units.MagneticFluxDensity initialHardIronZ) throws com.irurueta.navigation.LockedException
      Sets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
      Specified by:
      setInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronZ - initial z-coordinate of magnetometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialHardIron

      public void setInitialHardIron(double initialHardIronX, double initialHardIronY, double initialHardIronZ) throws com.irurueta.navigation.LockedException
      Sets initial hard-iron bias coordinates of magnetometer used to find a solution expressed in Teslas (T).
      Specified by:
      setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronX - initial x-coordinate of magnetometer hard-iron bias.
      initialHardIronY - initial y-coordinate of magnetometer hard-iron bias.
      initialHardIronZ - initial z-coordinate of magnetometer hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialHardIron

      public void setInitialHardIron(com.irurueta.units.MagneticFluxDensity initialHardIronX, com.irurueta.units.MagneticFluxDensity initialHardIronY, com.irurueta.units.MagneticFluxDensity initialHardIronZ) throws com.irurueta.navigation.LockedException
      Sets initial hard iron coordinates of magnetometer used to find a solution.
      Specified by:
      setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIronX - initial x-coordinate of magnetometer bias.
      initialHardIronY - initial y-coordinate of magnetometer bias.
      initialHardIronZ - initial z-coordinate of magnetometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIronAsTriad

      public MagneticFluxDensityTriad getInitialHardIronAsTriad()
      Gets initial hard-iron used to find a solution.
      Specified by:
      getInitialHardIronAsTriad in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial hard-iron.

    • getInitialHardIronAsTriad

      public void getInitialHardIronAsTriad(MagneticFluxDensityTriad result)
      Gets initial hard-iron used to find a solution.
      Specified by:
      getInitialHardIronAsTriad in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setInitialHardIron

      public void setInitialHardIron(MagneticFluxDensityTriad initialHardIron) throws com.irurueta.navigation.LockedException
      Sets initial hard-iron used to find a solution.
      Specified by:
      setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIron - initial hard-iron to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSx

      public double getInitialSx()
      Gets initial x scaling factor.
      Specified by:
      getInitialSx in interface MagnetometerNonLinearCalibrator
      Returns:
      initial x scaling factor.

    • setInitialSx

      public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
      Sets initial x scaling factor.
      Specified by:
      setInitialSx in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSy

      public double getInitialSy()
      Gets initial y scaling factor.
      Specified by:
      getInitialSy in interface MagnetometerNonLinearCalibrator
      Returns:
      initial y scaling factor.

    • setInitialSy

      public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
      Sets initial y scaling factor.
      Specified by:
      setInitialSy in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSy - initial y scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialSz

      public double getInitialSz()
      Gets initial z scaling factor.
      Specified by:
      getInitialSz in interface MagnetometerNonLinearCalibrator
      Returns:
      initial z scaling factor.

    • setInitialSz

      public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial z scaling factor.
      Specified by:
      setInitialSz in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxy

      public double getInitialMxy()
      Gets initial x-y cross coupling error.
      Specified by:
      getInitialMxy in interface MagnetometerNonLinearCalibrator
      Returns:
      initial x-y cross coupling error.

    • setInitialMxy

      public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
      Sets initial x-y cross coupling error.
      Specified by:
      setInitialMxy in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMxz

      public double getInitialMxz()
      Gets initial x-z cross coupling error.
      Specified by:
      getInitialMxz in interface MagnetometerNonLinearCalibrator
      Returns:
      initial x-z cross coupling error.

    • setInitialMxz

      public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
      Sets initial x-z cross coupling error.
      Specified by:
      setInitialMxz in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMxz - initial x-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyx

      public double getInitialMyx()
      Gets initial y-x cross coupling error.
      Specified by:
      getInitialMyx in interface MagnetometerNonLinearCalibrator
      Returns:
      initial y-x cross coupling error.

    • setInitialMyx

      public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
      Sets initial y-x cross coupling error.
      Specified by:
      setInitialMyx in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMyx - initial y-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMyz

      public double getInitialMyz()
      Gets initial y-z cross coupling error.
      Specified by:
      getInitialMyz in interface MagnetometerNonLinearCalibrator
      Returns:
      initial y-z cross coupling error.

    • setInitialMyz

      public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
      Sets initial y-z cross coupling error.
      Specified by:
      setInitialMyz in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMyz - initial y-z cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzx

      public double getInitialMzx()
      Gets initial z-x cross coupling error.
      Specified by:
      getInitialMzx in interface MagnetometerNonLinearCalibrator
      Returns:
      initial z-x cross coupling error.

    • setInitialMzx

      public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
      Sets initial z-x cross coupling error.
      Specified by:
      setInitialMzx in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMzx - initial z-x cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialMzy

      public double getInitialMzy()
      Gets initial z-y cross coupling error.
      Specified by:
      getInitialMzy in interface MagnetometerNonLinearCalibrator
      Returns:
      initial z-y cross coupling error.

    • setInitialMzy

      public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial z-y cross coupling error.
      Specified by:
      setInitialMzy in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactors

      public void setInitialScalingFactors(double initialSx, double initialSy, double initialSz) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors.
      Specified by:
      setInitialScalingFactors in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialCrossCouplingErrors

      public void setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial cross coupling errors.
      Specified by:
      setInitialCrossCouplingErrors in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setInitialScalingFactorsAndCrossCouplingErrors

      public void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
      Sets initial scaling factors and cross coupling errors.
      Specified by:
      setInitialScalingFactorsAndCrossCouplingErrors in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInitialHardIron

      public double[] getInitialHardIron()
      Gets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).
      Specified by:
      getInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      array containing coordinates of initial bias.

    • getInitialHardIron

      public void getInitialHardIron(double[] result)
      Gets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).
      Specified by:
      getInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setInitialHardIron

      public void setInitialHardIron(double[] initialHardIron) throws com.irurueta.navigation.LockedException
      Sets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).
      Specified by:
      setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getInitialHardIronAsMatrix

      public com.irurueta.algebra.Matrix getInitialHardIronAsMatrix()
      Gets initial hard-iron bias to be used to find a solution as a column matrix. Values are expressed in Teslas (T).
      Specified by:
      getInitialHardIronAsMatrix in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Returns:
      initial hard-iron bias to be used to find a solution as a column matrix.

    • getInitialHardIronAsMatrix

      public void getInitialHardIronAsMatrix(com.irurueta.algebra.Matrix result)
      Gets initial hard-iron bias to be used to find a solution as a column matrix. Values are expressed in Teslas (T).
      Specified by:
      getInitialHardIronAsMatrix in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setInitialHardIron

      public void setInitialHardIron(com.irurueta.algebra.Matrix initialHardIron) throws com.irurueta.navigation.LockedException
      Sets initial hard-iron bias to be used to find a solution as a column matrix with values expressed in Teslas (T).
      Specified by:
      setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
      Parameters:
      initialHardIron - initial hard-iron bias to find a solution.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getInitialMm

      public com.irurueta.algebra.Matrix getInitialMm()
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMm in interface MagnetometerNonLinearCalibrator
      Returns:
      initial scale factors and cross coupling errors matrix.

    • getInitialMm

      public void getInitialMm(com.irurueta.algebra.Matrix result)
      Gets initial scale factors and cross coupling errors matrix.
      Specified by:
      getInitialMm in interface MagnetometerNonLinearCalibrator
      Parameters:
      result - instance where data will be stored.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.

    • setInitialMm

      public void setInitialMm(com.irurueta.algebra.Matrix initialMm) throws com.irurueta.navigation.LockedException
      Sets initial scale factors and cross coupling errors matrix.
      Specified by:
      setInitialMm in interface MagnetometerNonLinearCalibrator
      Parameters:
      initialMm - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x3.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurements

      public List<StandardDeviationBodyMagneticFluxDensity> getMeasurements()
      Gets collection of body magnetic flux density measurements taken at a given position with different unknown orientations and containing the standard deviation of magnetometer measurements.
      Specified by:
      getMeasurements in interface OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
      Returns:
      collection of body magnetic flux density measurements at a known position and timestamp with unknown orientations.

    • setMeasurements

      public void setMeasurements(List<StandardDeviationBodyMagneticFluxDensity> measurements) throws com.irurueta.navigation.LockedException
      Sets collection of body magnetic flux density measurements taken at a given position with different unknown orientations and containing the standard deviation of magnetometer measurements.
      Specified by:
      setMeasurements in interface OrderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator
      Parameters:
      measurements - collection of body magnetic flux density measurements at a known position and timestamp with unknown orientations.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurementType

      public MagnetometerCalibratorMeasurementType getMeasurementType()
      Indicates the type of measurement used by this calibrator.
      Specified by:
      getMeasurementType in interface MagnetometerCalibrator
      Returns:
      type of measurement used by this calibrator.

    • isOrderedMeasurementsRequired

      public boolean isOrderedMeasurementsRequired()
      Indicates whether this calibrator requires ordered measurements in a list or not.
      Specified by:
      isOrderedMeasurementsRequired in interface MagnetometerCalibrator
      Returns:
      true if measurements must be ordered, false otherwise.

    • isCommonAxisUsed

      public boolean isCommonAxisUsed()
      Indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from Mm (soft-iron) matrix.
      Specified by:
      isCommonAxisUsed in interface MagnetometerCalibrator
      Returns:
      true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.

    • setCommonAxisUsed

      public void setCommonAxisUsed(boolean commonAxisUsed) throws com.irurueta.navigation.LockedException
      Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Mm matrix.
      Specified by:
      setCommonAxisUsed in interface MagnetometerCalibrator
      Parameters:
      commonAxisUsed - true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is currently running.

    • getListener

      public RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener getListener()
      Gets listener to handle events raised by this calibrator.
      Returns:
      listener to handle events raised by this calibrator.

    • setListener

      public void setListener(RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this calibrator.
      Parameters:
      listener - listener to handle events raised by this calibrator.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMinimumRequiredMeasurements

      public int getMinimumRequiredMeasurements()
      Gets minimum number of required measurements.
      Specified by:
      getMinimumRequiredMeasurements in interface MagnetometerCalibrator
      Returns:
      minimum number of required measurements.

    • isReady

      public boolean isReady()
      Indicates whether calibrator is ready to start the estimator.
      Specified by:
      isReady in interface MagnetometerCalibrator
      Returns:
      true if calibrator is ready, false otherwise.

    • isRunning

      public boolean isRunning()
      Indicates whether calibrator is currently running or no.
      Specified by:
      isRunning in interface MagnetometerCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • getProgressDelta

      public float getProgressDelta()
      Returns amount of progress variation before notifying a progress change during calibration.
      Returns:
      amount of progress variation before notifying a progress change during calibration.

    • setProgressDelta

      public void setProgressDelta(float progressDelta) throws com.irurueta.navigation.LockedException
      Sets amount of progress variation before notifying a progress change during calibration.
      Parameters:
      progressDelta - amount of progress variation before notifying a progress change during calibration.
      Throws:
      IllegalArgumentException - if progress delta is less than zero or greater than 1.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getConfidence

      public double getConfidence()
      Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Returns:
      amount of confidence as a value between 0.0 and 1.0.

    • setConfidence

      public void setConfidence(double confidence) throws com.irurueta.navigation.LockedException
      Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Parameters:
      confidence - confidence to be set as a value between 0.0 and 1.0.
      Throws:
      IllegalArgumentException - if provided value is not between 0.0 and 1.0.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMaxIterations

      public int getMaxIterations()
      Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling calibrate(), a RobustEstimatorException will be raised.
      Returns:
      maximum allowed number of iterations.

    • setMaxIterations

      public void setMaxIterations(int maxIterations) throws com.irurueta.navigation.LockedException
      Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
      Parameters:
      maxIterations - maximum allowed number of iterations to be set.
      Throws:
      IllegalArgumentException - if provided value is less than 1.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getInliersData

      public com.irurueta.numerical.robust.InliersData getInliersData()
      Gets data related to inliers found after estimation.
      Returns:
      data related to inliers found after estimation.

    • isResultRefined

      public boolean isResultRefined()
      Indicates whether result must be refined using a non-linear solver over found inliers.
      Returns:
      true to refine result, false to simply use result found by robust estimator without further refining.

    • setResultRefined

      public void setResultRefined(boolean refineResult) throws com.irurueta.navigation.LockedException
      Specifies whether result must be refined using a non-linear solver over found inliers.
      Parameters:
      refineResult - true to refine result, false to simply use result found by robust estimator without further refining.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isCovarianceKept

      public boolean isCovarianceKept()
      Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Returns:
      true if covariance must be kept after refining result, false otherwise.

    • setCovarianceKept

      public void setCovarianceKept(boolean keepCovariance) throws com.irurueta.navigation.LockedException
      Specifies whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Parameters:
      keepCovariance - true if covariance must be kept after refining result, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.
      Specified by:
      getQualityScores in interface QualityScoredMagnetometerCalibrator
      Returns:
      quality scores corresponding to each sample.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
      Specified by:
      setQualityScores in interface QualityScoredMagnetometerCalibrator
      Parameters:
      qualityScores - quality scores corresponding to each pair of matched points.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getEstimatedHardIron

      public double[] getEstimatedHardIron()
      Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
      Specified by:
      getEstimatedHardIron in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      array containing x,y,z components of estimated magnetometer hard-iron biases.

    • getEstimatedHardIron

      public boolean getEstimatedHardIron(double[] result)
      Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
      Specified by:
      getEstimatedHardIron in interface UnknownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where estimated magnetometer biases will be stored.
      Returns:
      true if result instance was updated, false otherwise (when estimation is not yet available).

    • getEstimatedHardIronAsMatrix

      public com.irurueta.algebra.Matrix getEstimatedHardIronAsMatrix()
      Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
      Specified by:
      getEstimatedHardIronAsMatrix in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      column matrix containing x,y,z components of estimated magnetometer hard-iron biases.

    • getEstimatedHardIronAsMatrix

      public boolean getEstimatedHardIronAsMatrix(com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.WrongSizeException
      Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
      Specified by:
      getEstimatedHardIronAsMatrix in interface UnknownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result data will be stored.
      Returns:
      true if result was updated, false otherwise.
      Throws:
      com.irurueta.algebra.WrongSizeException - if provided result instance has invalid size.

    • getEstimatedHardIronX

      public Double getEstimatedHardIronX()
      Gets x coordinate of estimated magnetometer bias expressed in Teslas (T).
      Specified by:
      getEstimatedHardIronX in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      x coordinate of estimated magnetometer bias or null if not available.

    • getEstimatedHardIronY

      public Double getEstimatedHardIronY()
      Gets y coordinate of estimated magnetometer bias expressed in Teslas (T).
      Specified by:
      getEstimatedHardIronY in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      y coordinate of estimated magnetometer bias or null if not available.

    • getEstimatedHardIronZ

      public Double getEstimatedHardIronZ()
      Gets z coordinate of estimated magnetometer bias expressed in Teslas (T).
      Specified by:
      getEstimatedHardIronZ in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      z coordinate of estimated magnetometer bias or null if not available.

    • getEstimatedHardIronXAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronXAsMagneticFluxDensity()
      Gets x coordinate of estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronXAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      x coordinate of estimated magnetometer bias.

    • getEstimatedHardIronXAsMagneticFluxDensity

      public boolean getEstimatedHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets x coordinate of estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronXAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated magnetometer bias is available, false otherwise.

    • getEstimatedHardIronYAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronYAsMagneticFluxDensity()
      Gets y coordinate of estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronYAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      y coordinate of estimated magnetometer bias.

    • getEstimatedHardIronYAsMagneticFluxDensity

      public boolean getEstimatedHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets y coordinate of estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronYAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated magnetometer bias is available, false otherwise.

    • getEstimatedHardIronZAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronZAsMagneticFluxDensity()
      Gets z coordinate of estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronZAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      z coordinate of estimated magnetometer bias.

    • getEstimatedHardIronZAsMagneticFluxDensity

      public boolean getEstimatedHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets z coordinate of estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronZAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated magnetometer bias is available, false otherwise.

    • getEstimatedHardIronAsTriad

      public MagneticFluxDensityTriad getEstimatedHardIronAsTriad()
      Gets estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronAsTriad in interface UnknownHardIronMagnetometerCalibrator
      Returns:
      estimated magnetometer bias or null if not available.

    • getEstimatedHardIronAsTriad

      public boolean getEstimatedHardIronAsTriad(MagneticFluxDensityTriad result)
      Gets estimated magnetometer bias.
      Specified by:
      getEstimatedHardIronAsTriad in interface UnknownHardIronMagnetometerCalibrator
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated magnetometer bias is available and result was modified, false otherwise.

    • getEstimatedMm

      public com.irurueta.algebra.Matrix getEstimatedMm()
      Gets estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat: 
           Mm = [sx    mxy  mxz] = Tm*Km
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Km = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Tm = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Mm = [sx    mxy  mxz] = Tm*Km =  [sx             -sy * alphaXy   sz * alphaXz ]
          [myx   sy   myz]            [sx * alphaYx   sy              -sz * alphaYz]
          [mzx   mzy  sz ]            [-sx * alphaZx  sy * alphaZy    sz           ]
      This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal: 
           Mm = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.
      Specified by:
      getEstimatedMm in interface MagnetometerCalibrator
      Returns:
      estimated magnetometer soft-iron scale factors and cross coupling errors, or null if not available.

    • getEstimatedSx

      public Double getEstimatedSx()
      Gets estimated x-axis scale factor.
      Specified by:
      getEstimatedSx in interface MagnetometerCalibrator
      Returns:
      estimated x-axis scale factor or null if not available.

    • getEstimatedSy

      public Double getEstimatedSy()
      Gets estimated y-axis scale factor.
      Specified by:
      getEstimatedSy in interface MagnetometerCalibrator
      Returns:
      estimated y-axis scale factor or null if not available.

    • getEstimatedSz

      public Double getEstimatedSz()
      Gets estimated z-axis scale factor.
      Specified by:
      getEstimatedSz in interface MagnetometerCalibrator
      Returns:
      estimated z-axis scale factor or null if not available.

    • getEstimatedMxy

      public Double getEstimatedMxy()
      Gets estimated x-y cross-coupling error.
      Specified by:
      getEstimatedMxy in interface MagnetometerCalibrator
      Returns:
      estimated x-y cross-coupling error or null if not available.

    • getEstimatedMxz

      public Double getEstimatedMxz()
      Gets estimated x-z cross-coupling error.
      Specified by:
      getEstimatedMxz in interface MagnetometerCalibrator
      Returns:
      estimated x-z cross-coupling error or null if not available.

    • getEstimatedMyx

      public Double getEstimatedMyx()
      Gets estimated y-x cross-coupling error.
      Specified by:
      getEstimatedMyx in interface MagnetometerCalibrator
      Returns:
      estimated y-x cross-coupling error or null if not available.

    • getEstimatedMyz

      public Double getEstimatedMyz()
      Gets estimated y-z cross-coupling error.
      Specified by:
      getEstimatedMyz in interface MagnetometerCalibrator
      Returns:
      estimated y-z cross-coupling error or null if not available.

    • getEstimatedMzx

      public Double getEstimatedMzx()
      Gets estimated z-x cross-coupling error.
      Specified by:
      getEstimatedMzx in interface MagnetometerCalibrator
      Returns:
      estimated z-x cross-coupling error or null if not available.

    • getEstimatedMzy

      public Double getEstimatedMzy()
      Gets estimated z-y cross-coupling error.
      Specified by:
      getEstimatedMzy in interface MagnetometerCalibrator
      Returns:
      estimated z-y cross-coupling error or null if not available.

    • getEstimatedChiSq

      public double getEstimatedChiSq()
      Gets estimated chi square value.
      Specified by:
      getEstimatedChiSq in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated chi square value.

    • getEstimatedMse

      public double getEstimatedMse()
      Gets estimated mean square error respect to provided measurements.
      Specified by:
      getEstimatedMse in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated mean square error respect to provided measurements.

    • getEstimatedCovariance

      public com.irurueta.algebra.Matrix getEstimatedCovariance()
      Gets estimated covariance matrix for estimated calibration parameters. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.
      Specified by:
      getEstimatedCovariance in interface MagnetometerNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated calibration parameters.

    • getEstimatedHardIronXVariance

      public Double getEstimatedHardIronXVariance()
      Gets variance of estimated x coordinate of magnetometer bias expressed in squared Teslas (T^2).
      Returns:
      variance of estimated x coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronXStandardDeviation

      public Double getEstimatedHardIronXStandardDeviation()
      Gets standard deviation of estimated x coordinate of magnetometer bias expressed in Teslas (T).
      Returns:
      standard deviation of estimated x coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity()
      Gets standard deviation of estimated x coordinate of magnetometer bias.
      Returns:
      standard deviation of estimated x coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity

      public boolean getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets standard deviation of estimated x coordinate of magnetometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated x coordinate of magnetometer bias is available, false otherwise.

    • getEstimatedHardIronYVariance

      public Double getEstimatedHardIronYVariance()
      Gets variance of estimated y coordinate of magnetometer bias expressed in squared Teslas (T^2).
      Returns:
      variance of estimated y coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronYStandardDeviation

      public Double getEstimatedHardIronYStandardDeviation()
      Gets standard deviation of estimated y coordinate of magnetometer bias expressed in Teslas (T).
      Returns:
      standard deviation of estimated y coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity()
      Gets standard deviation of estimated y coordinate of magnetometer bias.
      Returns:
      standard deviation of estimated y coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity

      public boolean getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets standard deviation of estimated y coordinate of magnetometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated y coordinate of magnetometer bias is available, false otherwise.

    • getEstimatedHardIronZVariance

      public Double getEstimatedHardIronZVariance()
      Gets variance of estimated z coordinate of magnetometer bias expressed in squared Teslas (T^2).
      Returns:
      variance of estimated z coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronZStandardDeviation

      public Double getEstimatedHardIronZStandardDeviation()
      Gets standard deviation of estimated z coordinate of magnetometer bias expressed in Teslas (T).
      Returns:
      standard deviation of estimated z coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity()
      Gets standard deviation of estimated z coordinate of magnetometer bias.
      Returns:
      standard deviation of estimated z coordinate of magnetometer bias or null if not available.

    • getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity

      public boolean getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets standard deviation of estimated z coordinate of magnetometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of estimated z coordinate of magnetometer bias is available, false otherwise.

    • getEstimatedHardIronStandardDeviation

      public MagneticFluxDensityTriad getEstimatedHardIronStandardDeviation()
      Gets standard deviation of estimated magnetometer bias coordinates.
      Returns:
      standard deviation of estimated magnetometer bias coordinates.

    • getEstimatedHardIronStandardDeviation

      public boolean getEstimatedHardIronStandardDeviation(MagneticFluxDensityTriad result)
      Gets standard deviation of estimated magnetometer bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if standard deviation of magnetometer bias was available, false otherwise.

    • getEstimatedHardIronStandardDeviationAverage

      public Double getEstimatedHardIronStandardDeviationAverage()
      Gets average of estimated standard deviation of magnetometer bias coordinates expressed in Teslas (T).
      Returns:
      average of estimated standard deviation of magnetometer bias coordinates, or null if not available.

    • getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity()
      Gets average of estimated standard deviation of magnetometer bias coordinates.
      Returns:
      average of estimated standard deviation of magnetometer bias coordinates, or null if not available.

    • getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity

      public boolean getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets average of estimated standard deviation of magnetometer bias coordinates.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if average of estimated standard deviation of magnetometer bias is available, false otherwise.

    • getEstimatedHardIronStandardDeviationNorm

      public Double getEstimatedHardIronStandardDeviationNorm()
      Gets norm of estimated standard deviation of magnetometer bias expressed in Teslas (T).
      Returns:
      norm of estimated standard deviation of magnetometer bias or null if not available.

    • getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity

      public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity()
      Gets norm of estimated standard deviation of magnetometer bias.
      Returns:
      norm of estimated standard deviation of magnetometer bias or null if not available.

    • getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity

      public boolean getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets norm of estimated standard deviation of magnetometer bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if norm of estimated standard deviation of magnetometer bias is available, false otherwise.

    • getPreliminarySubsetSize

      public int getPreliminarySubsetSize()
      Gets size of subsets to be checked during robust estimation. This has to be at least MINIMUM_MEASUREMENTS_COMMON_Z_AXIS.
      Returns:
      size of subsets to be checked during robust estimation.

    • setPreliminarySubsetSize

      public void setPreliminarySubsetSize(int preliminarySubsetSize) throws com.irurueta.navigation.LockedException
      Sets size of subsets to be checked during robust estimation. This has to be at least MINIMUM_MEASUREMENTS_COMMON_Z_AXIS.
      Parameters:
      preliminarySubsetSize - size of subsets to be checked during robust estimation.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided value is less than MINIMUM_MEASUREMENTS_COMMON_Z_AXIS.

    • getMethod

      public abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Returns:
      method being used for robust estimation.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - list of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - list of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      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 magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      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 magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.*
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
      Creates a robust magnetometer calibrator.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      method - robust estimator method.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create()
      Creates a robust magnetometer calibrator with default robust method.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - list of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - list of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Creates a robust magnetometer calibrator with default robust method.
      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 magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      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 magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron array does not have length 3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.*
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3 or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, double[] initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron array does not have length 3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • create

      public static RobustKnownMagneticFluxDensityNormMagnetometerCalibrator create(double[] qualityScores, Double groundTruthMagneticFluxDensityNorm, List<StandardDeviationBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialHardIron, com.irurueta.algebra.Matrix initialMm, RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener)
      Creates a robust magnetometer calibrator with default robust method.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm expressed in Teslas (T).
      measurements - collection of body magnetic flux density measurements with standard deviation of magnetometer measurements taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
      initialHardIron - initial hard-iron to find a solution.
      initialMm - initial soft-iron matrix containing scale factors and cross coupling errors.
      listener - listener to handle events raised by this calibrator.
      Returns:
      a robust magnetometer calibrator.
      Throws:
      IllegalArgumentException - if provided magnetic flux norm value is negative, or if provided hard-iron matrix is not 3x1 or if soft-iron matrix is not 3x3, or if provided quality scores length is smaller than 10 samples.

    • computeError

      protected double computeError(StandardDeviationBodyMagneticFluxDensity measurement, RobustKnownMagneticFluxDensityNormMagnetometerCalibrator.PreliminaryResult preliminaryResult)
      Computes error of a preliminary result respect a given measurement.
      Parameters:
      measurement - a measurement.
      preliminaryResult - a preliminary result.
      Returns:
      computed error.

    • computePreliminarySolutions

      protected void computePreliminarySolutions(int[] samplesIndices, List<RobustKnownMagneticFluxDensityNormMagnetometerCalibrator.PreliminaryResult> solutions)
      Computes a preliminary solution for a subset of samples picked by a robust estimator.
      Parameters:
      samplesIndices - indices of samples picked by the robust estimator.
      solutions - list where estimated preliminary solution will be stored.

    • attemptRefine

      protected void attemptRefine(RobustKnownMagneticFluxDensityNormMagnetometerCalibrator.PreliminaryResult preliminaryResult)
      Attempts to refine calibration parameters if refinement is requested. This method returns a refined solution or provided input if refinement is not requested or has failed. If refinement is enabled and it is requested to keep covariance, this method will also keep covariance of refined position.
      Parameters:
      preliminaryResult - a preliminary result.

    • internalSetGroundTruthMagneticFluxDensityNorm

      private void internalSetGroundTruthMagneticFluxDensityNorm(Double groundTruthMagneticFluxDensityNorm)
      Internally sets ground truth magnetic flux density norm to be expected at location where measurements have been made, expressed in Teslas (T).
      Parameters:
      groundTruthMagneticFluxDensityNorm - ground truth magnetic flux density norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.

    • convertMagneticFluxDensity

      private static double convertMagneticFluxDensity(double value, com.irurueta.units.MagneticFluxDensityUnit unit)
      Converts magnetic flux density value and unit to Teslas.
      Parameters:
      value - magnetic flux density value.
      unit - unit of magnetic flux density value.
      Returns:
      converted value.

    • convertMagneticFluxDensity

      private static double convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity magneticFluxDensity)
      Converts magnetic flux density instance to Teslas.
      Parameters:
      magneticFluxDensity - magnetic flux density instance to be converted.
      Returns:
      converted value.