Package com.irurueta.navigation.inertial.calibration

Class TimedBodyKinematicsAndMagneticFluxDensity

java.lang.Object
com.irurueta.navigation.inertial.BodyKinematicsAndMagneticFluxDensity
com.irurueta.navigation.inertial.calibration.TimedBodyKinematicsAndMagneticFluxDensity
All Implemented Interfaces:
Serializable, Cloneable
public class TimedBodyKinematicsAndMagneticFluxDensity extends BodyKinematicsAndMagneticFluxDensity
Contains body kinematics describing the forces and angular rate applied to a body, along with the sensed magnetic flux density resolved around body coordinates and the corresponding timestamp when measure was made. 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:

  • 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:

    • timestampSeconds

      private double timestampSeconds
      Timestamp value expressed in seconds.

  • Constructor Details

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity()
      Constructor.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyKinematics kinematics)
      Constructor.
      Parameters:
      kinematics - body kinematics containing sensed specific force and angular rate.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyMagneticFluxDensity magneticFluxDensity)
      Constructor.
      Parameters:
      magneticFluxDensity - body magnetic flux density.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyKinematics kinematics, BodyMagneticFluxDensity magneticFluxDensity)
      Constructor.
      Parameters:
      kinematics - body kinematics containing sensed specific force and angular rate.
      magneticFluxDensity - body magnetic flux density.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(double timestampSeconds)
      Constructor.
      Parameters:
      timestampSeconds - timestamp value expressed in seconds.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(com.irurueta.units.Time timestamp)
      Constructor.
      Parameters:
      timestamp - timestamp value.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyKinematics kinematics, double timestampSeconds)
      Constructor.
      Parameters:
      kinematics - body kinematics containing sensed specific force and angular rate.
      timestampSeconds - timestamp value expressed in seconds.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyKinematics kinematics, com.irurueta.units.Time timestamp)
      Constructor.
      Parameters:
      kinematics - body kinematics containing sensed specific force and angular rate.
      timestamp - timestamp value.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyMagneticFluxDensity magneticFluxDensity, double timestampSeconds)
      Constructor.
      Parameters:
      magneticFluxDensity - body magnetic flux density.
      timestampSeconds - timestamp value expressed in seconds.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyMagneticFluxDensity magneticFluxDensity, com.irurueta.units.Time timestamp)
      Constructor.
      Parameters:
      magneticFluxDensity - body magnetic flux density.
      timestamp - timestamp value.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyKinematics kinematics, BodyMagneticFluxDensity magneticFluxDensity, double timestampSeconds)
      Constructor.
      Parameters:
      kinematics - body kinematics containing sensed specific force and angular rate.
      magneticFluxDensity - body magnetic flux density.
      timestampSeconds - timestamp value expressed in seconds.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(BodyKinematics kinematics, BodyMagneticFluxDensity magneticFluxDensity, com.irurueta.units.Time timestamp)
      Constructor.
      Parameters:
      kinematics - body kinematics containing sensed specific force and angular rate.
      magneticFluxDensity - body magnetic flux density.
      timestamp - timestamp value.

    • TimedBodyKinematicsAndMagneticFluxDensity

      public TimedBodyKinematicsAndMagneticFluxDensity(TimedBodyKinematicsAndMagneticFluxDensity input)
      Constructor.
      Parameters:
      input - instance to copy data from.

  • Method Details

    • getTimestampSeconds

      public double getTimestampSeconds()
      Gets timestamp value expressed in seconds.
      Returns:
      timestamp value expressed in seconds.

    • setTimestampSeconds

      public void setTimestampSeconds(double timestampSeconds)
      Sets timestamp value expressed in seconds.
      Parameters:
      timestampSeconds - timestamp value expressed in seconds.

    • getTimestamp

      public com.irurueta.units.Time getTimestamp()
      Gets timestamp value.
      Returns:
      a new timestamp instance.

    • getTimestamp

      public void getTimestamp(com.irurueta.units.Time result)
      Gets timestamp value.
      Parameters:
      result - instance where result data will be stored.

    • setTimestamp

      public void setTimestamp(com.irurueta.units.Time timestamp)
      Sets timestamp.
      Parameters:
      timestamp - timestamp to be set.

    • getTimedKinematics

      public TimedBodyKinematics getTimedKinematics()
      Gets a timed body kinematics instance containing current body kinematics and timestamp.
      Returns:
      a timed body kinematics

    • getTimedKinematics

      public void getTimedKinematics(TimedBodyKinematics result)
      Gets a timed body kinematics instance containing current body kinematics and timestamp.
      Parameters:
      result - instance where result will be stored.

    • setTimedKinematics

      public void setTimedKinematics(TimedBodyKinematics timedKinematics)
      Sets data from provided timed body kinematics.
      Parameters:
      timedKinematics - timed body kinematics.

    • copyFrom

      public void copyFrom(TimedBodyKinematicsAndMagneticFluxDensity input)
      Copies data of provided instance into this instance.
      Parameters:
      input - instance to copy data from.

    • copyTo

      public void copyTo(TimedBodyKinematicsAndMagneticFluxDensity output)
      Copies this instance data into provided instance.
      Parameters:
      output - destination instance where data will be copied to.

    • 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 BodyKinematicsAndMagneticFluxDensity
      Returns:
      Hash code.

    • equals

      public boolean equals(TimedBodyKinematicsAndMagneticFluxDensity 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(TimedBodyKinematicsAndMagneticFluxDensity 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 timestamp values.
      Returns:
      true if both instances are considered to be equal (up to provided threshold), false otherwise.

    • equals

      public boolean equals(Object obj)
      Checks if provided object is a TimedBodyKinematics instance having exactly the same contents as this instance.
      Overrides:
      equals in class BodyKinematicsAndMagneticFluxDensity
      Parameters:
      obj - object to be compared.
      Returns:
      true if both objects are considered to be equal, false otherwise.

    • clone

      protected Object clone() throws CloneNotSupportedException
      Makes a copy of this instance.
      Overrides:
      clone in class BodyKinematicsAndMagneticFluxDensity
      Returns:
      a copy of this instance.
      Throws:
      CloneNotSupportedException - if clone fails for some reason.

    • convertTime

      private static double convertTime(com.irurueta.units.Time time)
      Converts provided time instance to seconds.
      Parameters:
      time - timestamp to be converted.
      Returns:
      converted value expressed in seconds.