Package com.irurueta.navigation.inertial.calibration

Class StandardDeviationTimedBodyKinematics

java.lang.Object

com.irurueta.navigation.inertial.calibration.TimedBodyKinematics

com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics

All Implemented Interfaces:

Serializable, Cloneable

public class StandardDeviationTimedBodyKinematics
extends TimedBodyKinematics

Contains a body kinematics measurement (accelerometer + gyroscope) along with the corresponding timestamp when measure was made and standard deviations of measured specific force and angular rates. Notice that timestamp does not need to be absolute. Usually timestamps are used in sequences of measurements of body kinematics, where the first measurement can have any timestamp value (e.g. zero), and hence the subsequent measurements will have timestamps relative to the first one.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
private double	angularRateStandardDeviation	Standard deviation of measured angular rate expressed in radians per second (rad/s).
private static final long	serialVersionUID	Serialization version.
private double	specificForceStandardDeviation	Standard deviation of measured specific force expressed in meters per squared second (m/s^2).

Constructor Summary

Constructors

Constructor	Description
StandardDeviationTimedBodyKinematics()	Constructor.
StandardDeviationTimedBodyKinematics(double timestampSeconds)	Constructor.
StandardDeviationTimedBodyKinematics(double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(double timestampSeconds, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(double timestampSeconds, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, double timestampSeconds)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, double timestampSeconds, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, double timestampSeconds, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, com.irurueta.units.Time timestamp)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, com.irurueta.units.Time timestamp, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(BodyKinematics kinematics, com.irurueta.units.Time timestamp, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(StandardDeviationTimedBodyKinematics input)	Constructor.
StandardDeviationTimedBodyKinematics(com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(com.irurueta.units.Time timestamp)	Constructor.
StandardDeviationTimedBodyKinematics(com.irurueta.units.Time timestamp, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationTimedBodyKinematics(com.irurueta.units.Time timestamp, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected Object	clone()	Makes a copy of this instance.
private static double	convertAcceleration(com.irurueta.units.Acceleration acceleration)	Converts provided acceleration to meters per squared second (m/s^2).
private static double	convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)	Converts provided angular speed to radians per second (rad/s).
void	copyFrom(StandardDeviationTimedBodyKinematics input)	Copies data of provided instance into this instance.
void	copyFrom(TimedBodyKinematics input)	Copies data of provided instance into this instance.
boolean	equals(StandardDeviationTimedBodyKinematics other)	Checks if provided instance has exactly the same contents as this instance.
boolean	equals(StandardDeviationTimedBodyKinematics other, double threshold)	Checks if provided instance has contents similar to this instance up to provided threshold value.
boolean	equals(Object obj)	Checks if provided object is a StandardDeviationTimedBodyKinematics instance having exactly the same contents as this instance.
double	getAngularRateStandardDeviation()	Gets standard deviation of measured angular rate expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getAngularRateStandardDeviationAsAngularSpeed()	Gets standard deviation of measured angular rate.
void	getAngularRateStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets standard deviation of measured angular rate.
double	getSpecificForceStandardDeviation()	Gets standard deviation of measured specific force expressed in meters per squared second (m/s^2).
com.irurueta.units.Acceleration	getSpecificForceStandardDeviationAsAcceleration()	Gets standard deviation of measured specific force.
void	getSpecificForceStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)	Gets standard deviation of measured specific force.
int	hashCode()	Computes and returns hash code for this instance.
void	setAngularRateStandardDeviation(double angularRateStandardDeviation)	Sets standard deviation of measured angular rate expressed in radians per second (rad/s).
void	setAngularRateStandardDeviation(com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Sets standard deviation of measured angular rate.
void	setSpecificForceStandardDeviation(double specificForceStandardDeviation)	Sets standard deviation of measured specific force expressed in meters per squared second (m/s^2).
void	setSpecificForceStandardDeviation(com.irurueta.units.Acceleration specificForceStandardDeviation)	Sets standard deviation of measured specific force.

Methods inherited from class com.irurueta.navigation.inertial.calibration.TimedBodyKinematics

copyTo, equals, equals, getKinematics, getTimestamp, getTimestamp, getTimestampSeconds, setKinematics, setTimestamp, setTimestampSeconds

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Field Details

serialVersionUID

private static final long serialVersionUID

Serialization version. This is used to ensure compatibility of deserialization of permanently stored serialized instances.

See Also:

• Constant Field Values

specificForceStandardDeviation

private double specificForceStandardDeviation

Standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation

private double angularRateStandardDeviation

Standard deviation of measured angular rate expressed in radians per second (rad/s).

Constructor Details

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics()

Constructor.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(double timestampSeconds)

Constructor.

Parameters:

timestampSeconds - timestamp value expressed in seconds.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(com.irurueta.units.Time timestamp)

Constructor.

Parameters:

timestamp - timestamp value.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 double timestampSeconds)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

timestampSeconds - timestamp value expressed in seconds.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 com.irurueta.units.Time timestamp)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

timestamp - timestamp value.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(double timestampSeconds,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

timestampSeconds - timestamp value expressed in seconds.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(com.irurueta.units.Time timestamp,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

timestamp - timestamp value.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 double timestampSeconds,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

timestampSeconds - timestamp value expressed in seconds.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 com.irurueta.units.Time timestamp,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

timestamp - timestamp value.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(double timestampSeconds,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

timestampSeconds - timestamp value expressed in seconds.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(com.irurueta.units.Time timestamp,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

timestamp - timestamp value.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 double timestampSeconds,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

timestampSeconds - timestamp value expressed in seconds.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(BodyKinematics kinematics,
 com.irurueta.units.Time timestamp,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

timestamp - timestamp value.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationTimedBodyKinematics

public StandardDeviationTimedBodyKinematics(StandardDeviationTimedBodyKinematics input)

Constructor.

Parameters:

input - instance to copy data from.

Method Details

getSpecificForceStandardDeviation

public double getSpecificForceStandardDeviation()

Gets standard deviation of measured specific force expressed in meters per squared second (m/s^2).

Returns:

standard deviation of measured specific force.

setSpecificForceStandardDeviation

public void setSpecificForceStandardDeviation(double specificForceStandardDeviation)

Sets standard deviation of measured specific force expressed in meters per squared second (m/s^2).

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force.

Throws:

IllegalArgumentException - if provided value is negative.

getSpecificForceStandardDeviationAsAcceleration

public com.irurueta.units.Acceleration getSpecificForceStandardDeviationAsAcceleration()

Gets standard deviation of measured specific force.

Returns:

standard deviation of measured specific force.

getSpecificForceStandardDeviationAsAcceleration

public void getSpecificForceStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)

Gets standard deviation of measured specific force.

Parameters:

result - instance where standard deviation of measured specific force will be stored.

setSpecificForceStandardDeviation

public void setSpecificForceStandardDeviation(com.irurueta.units.Acceleration specificForceStandardDeviation)

Sets standard deviation of measured specific force.

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force.

Throws:

IllegalArgumentException - if provided value is negative.

getAngularRateStandardDeviation

public double getAngularRateStandardDeviation()

Gets standard deviation of measured angular rate expressed in radians per second (rad/s).

Returns:

standard deviation of measured angular rate.

setAngularRateStandardDeviation

public void setAngularRateStandardDeviation(double angularRateStandardDeviation)

Sets standard deviation of measured angular rate expressed in radians per second (rad/s).

Parameters:

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if provided value is negative.

getAngularRateStandardDeviationAsAngularSpeed

public com.irurueta.units.AngularSpeed getAngularRateStandardDeviationAsAngularSpeed()

Gets standard deviation of measured angular rate.

Returns:

standard deviation of measured angular rate.

getAngularRateStandardDeviationAsAngularSpeed

public void getAngularRateStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of measured angular rate.

Parameters:

result - instance where standard deviation of measured angular rate will be stored.

setAngularRateStandardDeviation

public void setAngularRateStandardDeviation(com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Sets standard deviation of measured angular rate.

Parameters:

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if provided value is negative.

copyFrom

public void copyFrom(StandardDeviationTimedBodyKinematics input)

Copies data of provided instance into this instance.

Parameters:

input - instance to copy data from.

copyFrom

public void copyFrom(TimedBodyKinematics input)

Description copied from class: TimedBodyKinematics

Copies data of provided instance into this instance.

Overrides:

copyFrom in class TimedBodyKinematics

Parameters:

input - instance to copy data from.

hashCode

public int hashCode()

Computes and returns hash code for this instance. Hash codes are almost unique values that are useful for fast classification and storage of objects in collections.

Overrides:

hashCode in class TimedBodyKinematics

Returns:

Hash code.

equals

public boolean equals(StandardDeviationTimedBodyKinematics other)

Checks if provided instance has exactly the same contents as this instance.

Parameters:

other - instance to be compared.

Returns:

true if both instances are considered to be equal, false otherwise.

equals

public boolean equals(StandardDeviationTimedBodyKinematics other,
 double threshold)

Checks if provided instance has contents similar to this instance up to provided threshold value.

Parameters:

other - instance to be compared.

threshold - maximum allowed difference between kinematics and standard deviation values.

Returns:

true if both instances are considered to be equal (up to provided threshold), false otherwise.

clone

protected Object clone()
                throws CloneNotSupportedException

Makes a copy of this instance.

Overrides:

clone in class TimedBodyKinematics

Returns:

a copy of this instance.

Throws:

CloneNotSupportedException - if clone fails for some reason.

equals

public boolean equals(Object obj)

Checks if provided object is a StandardDeviationTimedBodyKinematics instance having exactly the same contents as this instance.

Overrides:

equals in class TimedBodyKinematics

Parameters:

obj - object to be compared.

Returns:

true if both objects are considered to be equal, false otherwise.

convertAcceleration

private static double convertAcceleration(com.irurueta.units.Acceleration acceleration)

Converts provided acceleration to meters per squared second (m/s^2).

Parameters:

acceleration - instance to be converted.

Returns:

converted value.

convertAngularSpeed

private static double convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)

Converts provided angular speed to radians per second (rad/s).

Parameters:

angularSpeed - instance to be converted.

Returns:

converted value.