Package com.irurueta.navigation.inertial.calibration.accelerometer

Class BaseBiasGravityNormAccelerometerCalibrator<C extends BaseBiasGravityNormAccelerometerCalibrator<?,?>,L extends BaseBiasGravityNormAccelerometerCalibratorListener<C>>

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.BaseBiasGravityNormAccelerometerCalibrator<C,L>
Type Parameters:
C - a calibrator type.
L - a listener type.
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator
Direct Known Subclasses:
KnownBiasAndGravityNormAccelerometerCalibrator, KnownBiasAndPositionAccelerometerCalibrator
public abstract class BaseBiasGravityNormAccelerometerCalibrator<C extends BaseBiasGravityNormAccelerometerCalibrator<?,?>,L extends BaseBiasGravityNormAccelerometerCalibratorListener<C>> extends Object implements AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator
Abstract class to estimate accelerometer cross couplings and scaling factors when accelerometer biases and gravity norm are known. Gravity norm can be known because it has been directly provided or because position respect Earth is known, and thus gravity norm can be computed. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 7 measurements taken at a single known position must be taken at 7 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 10 measurements are required.

Measured specific force is assumed to follow the model shown below: 

     fmeas = ba + (I + Ma) * ftrue + w
Where: - fmeas is the measured specific force. This is a 3x1 vector. - ba is accelerometer bias, which is known. This is a 3x1 vector. - I is the 3x3 identity matrix. - Ma is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect accelerometer, this should be a 3x3 zero matrix. - ftrue is ground-truth specific force. - w is measurement noise.

  • 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 both the accelerometer and gyroscope.
      See Also:

    • COMMON_Z_AXIS_UNKNOWNS

      public static final int COMMON_Z_AXIS_UNKNOWNS
      Number of unknowns when common z-axis is assumed for both the accelerometer and gyroscope.
      See Also:

    • GENERAL_UNKNOWNS

      public static final int GENERAL_UNKNOWNS
      Number of unknowns for the general case.
      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:

    • groundTruthGravityNorm

      protected Double groundTruthGravityNorm
      Ground truth gravity norm to be expected at location where measurements have been made, expressed in meters per squared second (m/s^2).

    • fitter

      private final com.irurueta.numerical.fitting.LevenbergMarquardtMultiDimensionFitter fitter
      Levenberg-Marquardt fitter to find a non-linear solution.

    • biasX

      private double biasX
      X-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • biasY

      private double biasY
      Y-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • biasZ

      private double biasZ
      Z-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • 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.

    • measurements

      private Collection<StandardDeviationBodyKinematics> measurements
      Contains a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.

    • commonAxisUsed

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

    • listener

      private L extends BaseBiasGravityNormAccelerometerCalibratorListener<C> listener
      Listener to handle events raised by this calibrator.

    • estimatedMa

      private com.irurueta.algebra.Matrix estimatedMa
      Estimated accelerometer scale factors and cross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So tat: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [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 Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.

    • estimatedCovariance

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

    • estimatedChiSq

      private double estimatedChiSq
      Estimated chi square value.

    • estimatedChiSqDegreesOfFreedom

      private int estimatedChiSqDegreesOfFreedom
      Estimated degrees of freedom of chi square value. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.

    • estimatedReducedChiSq

      private double estimatedReducedChiSq
      Estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of freedom. Ideally this value should be close to 1.0.

    • estimatedMse

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

    • estimatedP

      private double estimatedP
      Estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.

    • estimatedQ

      private double estimatedQ
      Estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is, the better the fit that has been estimated.

    • running

      private boolean running
      Indicates whether estimator is running.

    • fmeasX

      private double fmeasX
      Internally holds x-coordinate of measured specific force during calibration.

    • fmeasY

      private double fmeasY
      Internally holds y-coordinate of measured specific force during calibration.

    • fmeasZ

      private double fmeasZ
      Internally holds z-coordinate of measured specific force during calibration.

    • fmeas

      private com.irurueta.algebra.Matrix fmeas
      Internally holds measured specific force during calibration expressed as a column matrix.

    • m

      private com.irurueta.algebra.Matrix m
      Internally holds cross-coupling errors during calibration.

    • invM

      private com.irurueta.algebra.Matrix invM
      Internally holds inverse of cross-coupling errors during calibration.

    • b

      private com.irurueta.algebra.Matrix b
      Internally holds biases during calibration in internal format.

    • ftrue

      private com.irurueta.algebra.Matrix ftrue
      Internally holds computed true specific force during calibration.

    • ba

      private com.irurueta.algebra.Matrix ba
      Internally hold biases during calibration in external format.

  • Constructor Details

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator()
      Constructor.

    • BaseBiasGravityNormAccelerometerCalibrator

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

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

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

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(double[] bias, L listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] bias, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double[] bias, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations 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 gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative. *

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      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.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double[] bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double[] bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • BaseBiasGravityNormAccelerometerCalibrator

      protected BaseBiasGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, L listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

  • Method Details

    • getGroundTruthGravityNorm

      public Double getGroundTruthGravityNorm()
      Gets ground truth gravity norm to be expected at location where measurements have been made, expressed in meter per squared second (m/s^2).
      Returns:
      ground truth gravity norm or null.

    • getGroundTruthGravityNormAsAcceleration

      public com.irurueta.units.Acceleration getGroundTruthGravityNormAsAcceleration()
      Gets ground truth gravity norm to be expected at location where measurements have been made.
      Returns:
      ground truth gravity norm or null.

    • getGroundTruthGravityNormAsAcceleration

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

    • getBiasX

      public double getBiasX()
      Gets x-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getBiasX in interface KnownBiasAccelerometerCalibrator
      Returns:
      x-coordinate of known accelerometer bias.

    • setBiasX

      public void setBiasX(double biasX) throws com.irurueta.navigation.LockedException
      Sets x-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasX in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - x-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasY

      public double getBiasY()
      Gets y-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getBiasY in interface KnownBiasAccelerometerCalibrator
      Returns:
      y-coordinate of known accelerometer bias.

    • setBiasY

      public void setBiasY(double biasY) throws com.irurueta.navigation.LockedException
      Sets y-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasY in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasY - y-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasZ

      public double getBiasZ()
      Gets z-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Specified by:
      getBiasZ in interface KnownBiasAccelerometerCalibrator
      Returns:
      z-coordinate of known accelerometer bias.

    • setBiasZ

      public void setBiasZ(double biasZ) throws com.irurueta.navigation.LockedException
      Sets z-coordinate of known accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasZ in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasZ - z-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasXAsAcceleration

      public com.irurueta.units.Acceleration getBiasXAsAcceleration()
      Gets x-coordinate of known accelerometer bias.
      Specified by:
      getBiasXAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Returns:
      x-coordinate of known accelerometer bias.

    • getBiasXAsAcceleration

      public void getBiasXAsAcceleration(com.irurueta.units.Acceleration result)
      Gets x-coordinate of known accelerometer bias.
      Specified by:
      getBiasXAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasX

      public void setBiasX(com.irurueta.units.Acceleration biasX) throws com.irurueta.navigation.LockedException
      Sets x-coordinate of known accelerometer bias.
      Specified by:
      setBiasX in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - x-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasYAsAcceleration

      public com.irurueta.units.Acceleration getBiasYAsAcceleration()
      Gets y-coordinate of known accelerometer bias.
      Specified by:
      getBiasYAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Returns:
      y-coordinate of known accelerometer bias.

    • getBiasYAsAcceleration

      public void getBiasYAsAcceleration(com.irurueta.units.Acceleration result)
      Gets y-coordinate of known accelerometer bias.
      Specified by:
      getBiasYAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasY

      public void setBiasY(com.irurueta.units.Acceleration biasY) throws com.irurueta.navigation.LockedException
      Sets y-coordinate of known accelerometer bias.
      Specified by:
      setBiasY in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasY - y-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasZAsAcceleration

      public com.irurueta.units.Acceleration getBiasZAsAcceleration()
      Gets z-coordinate of known accelerometer bias.
      Specified by:
      getBiasZAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Returns:
      z-coordinate of known accelerometer bias.

    • getBiasZAsAcceleration

      public void getBiasZAsAcceleration(com.irurueta.units.Acceleration result)
      Gets z-coordinate of known accelerometer bias.
      Specified by:
      getBiasZAsAcceleration in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be stored.

    • setBiasZ

      public void setBiasZ(com.irurueta.units.Acceleration biasZ) throws com.irurueta.navigation.LockedException
      Sets z-coordinate of known accelerometer bias to be used to find a solution.
      Specified by:
      setBiasZ in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasZ - z-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setBiasCoordinates

      public void setBiasCoordinates(double biasX, double biasY, double biasZ) throws com.irurueta.navigation.LockedException
      Sets known bias coordinates of accelerometer expressed in meters per squared second (m/s^2).
      Specified by:
      setBiasCoordinates in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - x-coordinate of known accelerometer bias.
      biasY - y-coordinate of known accelerometer bias.
      biasZ - z-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setBiasCoordinates

      public void setBiasCoordinates(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ) throws com.irurueta.navigation.LockedException
      Sets known bias coordinates of accelerometer.
      Specified by:
      setBiasCoordinates in interface KnownBiasAccelerometerCalibrator
      Parameters:
      biasX - x-coordinate of known accelerometer bias.
      biasY - y-coordinate of known accelerometer bias.
      biasZ - z-coordinate of known accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasAsTriad

      public AccelerationTriad getBiasAsTriad()
      Gets known accelerometer bias.
      Specified by:
      getBiasAsTriad in interface KnownBiasAccelerometerCalibrator
      Returns:
      known accelerometer bias.

    • getBiasAsTriad

      public void getBiasAsTriad(AccelerationTriad result)
      Gets known accelerometer bias.
      Specified by:
      getBiasAsTriad in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result will be stored.

    • setBias

      public void setBias(AccelerationTriad bias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias.
      Specified by:
      setBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      bias - accelerometer bias 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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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 AccelerometerNonLinearCalibrator
      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.

    • getBias

      public double[] getBias()
      Gets known bias as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      getBias in interface KnownBiasAccelerometerCalibrator
      Returns:
      array containing coordinates of known bias.

    • getBias

      public void getBias(double[] result)
      Gets known bias as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      getBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setBias

      public void setBias(double[] bias) throws com.irurueta.navigation.LockedException
      Sets known bias as an array. Array values are expressed in meters per squared second (m/s^2).
      Specified by:
      setBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      bias - known bias to be set
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getBiasAsMatrix

      public com.irurueta.algebra.Matrix getBiasAsMatrix()
      Gets known bias as a column matrix.
      Specified by:
      getBiasAsMatrix in interface KnownBiasAccelerometerCalibrator
      Returns:
      known bias as a column matrix.

    • getBiasAsMatrix

      public void getBiasAsMatrix(com.irurueta.algebra.Matrix result)
      Gets known bias as a column matrix.
      Specified by:
      getBiasAsMatrix in interface KnownBiasAccelerometerCalibrator
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • setBias

      public void setBias(com.irurueta.algebra.Matrix bias) throws com.irurueta.navigation.LockedException
      Sets known bias as an array.
      Specified by:
      setBias in interface KnownBiasAccelerometerCalibrator
      Parameters:
      bias - bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.

    • getInitialMa

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

    • getInitialMa

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

    • setInitialMa

      public void setInitialMa(com.irurueta.algebra.Matrix initialMa) throws com.irurueta.navigation.LockedException
      Sets initial scale factors and cross coupling errors matrix.
      Specified by:
      setInitialMa in interface AccelerometerNonLinearCalibrator
      Parameters:
      initialMa - 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 Collection<StandardDeviationBodyKinematics> getMeasurements()
      Gets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Specified by:
      getMeasurements in interface UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator
      Returns:
      collection of body kinematics measurements at a known position with unknown orientations.

    • setMeasurements

      public void setMeasurements(Collection<StandardDeviationBodyKinematics> measurements) throws com.irurueta.navigation.LockedException
      Sets a collection of body kinematics measurements taken at a given position with different unknown orientations and containing the standard deviations of accelerometer and gyroscope measurements.
      Specified by:
      setMeasurements in interface UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator
      Parameters:
      measurements - collection of body kinematics measurements at a known position with unknown orientations.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getMeasurementType

      public AccelerometerCalibratorMeasurementType getMeasurementType()
      Indicates the type of measurement used by this calibrator.
      Specified by:
      getMeasurementType in interface AccelerometerCalibrator
      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 AccelerometerCalibrator
      Returns:
      true if measurements must be ordered, false otherwise.

    • isQualityScoresRequired

      public boolean isQualityScoresRequired()
      Indicates whether this calibrator requires quality scores for each measurement or not.
      Specified by:
      isQualityScoresRequired in interface AccelerometerCalibrator
      Returns:
      true if quality scores are required, false otherwise.

    • isCommonAxisUsed

      public boolean isCommonAxisUsed()
      Indicates whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Ma matrix.
      Specified by:
      isCommonAxisUsed in interface AccelerometerCalibrator
      Returns:
      true if z-axis is assumed to be common for accelerometer and gyroscope, 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 Ma matrix.
      Specified by:
      setCommonAxisUsed in interface AccelerometerCalibrator
      Parameters:
      commonAxisUsed - true if z-axis is assumed to be common for accelerometer and gyroscope, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getListener

      public L getListener()
      Gets listener to handle events raised by this estimator.
      Returns:
      listener to handle events raised by this estimator.

    • setListener

      public void setListener(L listener) throws com.irurueta.navigation.LockedException
      Sets listener to handle events raised by this estimator.
      Parameters:
      listener - listener to handle events raised by this estimator.
      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 AccelerometerCalibrator
      Returns:
      minimum number of required measurements.

    • isReady

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

    • isRunning

      public boolean isRunning()
      Indicates whether calibrator is currently running or not.
      Specified by:
      isRunning in interface AccelerometerCalibrator
      Returns:
      true if calibrator is running, false otherwise.

    • calibrate

      public void calibrate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException
      Estimates accelerometer calibration parameters containing scale factors and cross-coupling errors.
      Specified by:
      calibrate in interface AccelerometerCalibrator
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      com.irurueta.navigation.NotReadyException - if calibrator is not ready.
      CalibrationException - if estimation fails for numerical reasons.

    • getEstimatedMa

      public com.irurueta.algebra.Matrix getEstimatedMa()
      Gets estimated accelerometer scale factors and ross coupling errors. This is the product of matrix Ta containing cross coupling errors and Ka containing scaling factors. So tat: 
           Ma = [sx    mxy  mxz] = Ta*Ka
          [myx   sy   myz]
          [mzx   mzy  sz ]
      Where: 
           Ka = [sx 0   0 ]
          [0  sy  0 ]
          [0  0   sz]
      and 
           Ta = [1          -alphaXy    alphaXz ]
          [alphaYx    1           -alphaYz]
          [-alphaZx   alphaZy     1       ]
      Hence: 
           Ma = [sx    mxy  mxz] = Ta*Ka =  [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 Ma matrix becomes upper diagonal: 
           Ma = [sx    mxy  mxz]
          [0     sy   myz]
          [0     0    sz ]
      Values of this matrix are unit-less.
      Specified by:
      getEstimatedMa in interface AccelerometerCalibrator
      Returns:
      estimated accelerometer 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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      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 AccelerometerCalibrator
      Returns:
      estimated z-y cross-coupling error or null if not available.

    • 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): sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.
      Specified by:
      getEstimatedCovariance in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated covariance matrix for estimated calibration parameters.

    • getEstimatedChiSq

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

    • getEstimatedChiSqDegreesOfFreedom

      public int getEstimatedChiSqDegreesOfFreedom()
      Gets estimated chi square degrees of freedom. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.
      Specified by:
      getEstimatedChiSqDegreesOfFreedom in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated degrees of freedom of chi square value

    • getEstimatedReducedChiSq

      public double getEstimatedReducedChiSq()
      Gets estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of freedom. Ideally this value should be close to 1.0, indicating that fit is optimal. A value larger than 1.0 indicates that fit is not good or noise has been underestimated, and a value smaller than 1.0 indicates that there is overfitting or noise has been overestimated.
      Specified by:
      getEstimatedReducedChiSq in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated reduced chi square value

    • getEstimatedMse

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

    • getEstimatedP

      public double getEstimatedP()
      Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.
      Specified by:
      getEstimatedP in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated probability of finding a smaller chi square value.

    • getEstimatedQ

      public double getEstimatedQ()
      Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is, the better the fit that has been estimated.
      Specified by:
      getEstimatedQ in interface AccelerometerNonLinearCalibrator
      Returns:
      estimated measure of quality of estimated fit.

    • convertAcceleration

      protected static double convertAcceleration(com.irurueta.units.Acceleration acceleration)
      Converts acceleration instance to meters per squared second.
      Parameters:
      acceleration - acceleration instance to be converted.
      Returns:
      converted value.

    • convertAcceleration

      private static double convertAcceleration(double value, com.irurueta.units.AccelerationUnit unit)
      Converts acceleration value and unit to meters per squared second.
      Parameters:
      value - acceleration value.
      unit - unit of acceleration value.
      Returns:
      converted value.

    • internalSetGroundTruthGravityNorm

      protected void internalSetGroundTruthGravityNorm(Double groundTruthGravityNorm)
      Internally sets ground truth gravity norm to be expected at location where measurements have been made, expressed in meters per squared second (m/s^2).
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.

    • setInputData

      private void setInputData() throws com.irurueta.algebra.WrongSizeException
      Sets input data into Levenberg-Marquardt fitter.
      Throws:
      com.irurueta.algebra.WrongSizeException - never happens.

    • calibrateGeneral

      private void calibrateGeneral() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform general calibration.
      Throws:
      com.irurueta.numerical.fitting.FittingException - if Levenberg-Marquardt fails for numerical reasons.
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities that prevent matrix inversion.
      com.irurueta.numerical.NotReadyException - never happens.

    • calibrateCommonAxis

      private void calibrateCommonAxis() throws com.irurueta.algebra.AlgebraException, com.irurueta.numerical.fitting.FittingException, com.irurueta.numerical.NotReadyException
      Internal method to perform calibration when common z-axis is assumed for both the accelerometer and gyroscope.
      Throws:
      com.irurueta.numerical.fitting.FittingException - if Levenberg-Marquardt fails for numerical reasons.
      com.irurueta.algebra.AlgebraException - if there are numerical instabilities that prevent matrix inversion.
      com.irurueta.numerical.NotReadyException - never happens.

    • setResult

      private void setResult(com.irurueta.algebra.Matrix m)
      Makes proper conversion of internal cross-coupling and bias matrices.
      Parameters:
      m - internal cross-coupling matrix.

    • evaluateGeneral

      private double evaluateGeneral(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true specific force squared norm using current measured specific force and provided parameters for the general case. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing current parameters for the general purpose case. Must have length 9.
      Returns:
      estimated true specific force squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluateCommonAxis

      private double evaluateCommonAxis(double[] params) throws com.irurueta.numerical.EvaluationException
      Computes estimated true specific force squared norm using current measured specific force and provided parameters when common z-axis is assumed. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      params - array containing current parameters for the common z-axis case. Must have length 6.
      Returns:
      estimated true specific force squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.

    • evaluate

      private double evaluate(double m11, double m21, double m31, double m12, double m22, double m32, double m13, double m23, double m33) throws com.irurueta.numerical.EvaluationException
      Computes estimated true specific force squared norm using current measured specific force and provided parameters. This method is internally executed during gradient estimation and Levenberg-Marquardt fitting needed for calibration computation.
      Parameters:
      m11 - element 1,1 of cross-coupling error matrix.
      m21 - element 2,1 of cross-coupling error matrix.
      m31 - element 3,1 of cross-coupling error matrix.
      m12 - element 1,2 of cross-coupling error matrix.
      m22 - element 2,2 of cross-coupling error matrix.
      m32 - element 3,2 of cross-coupling error matrix.
      m13 - element 1,3 of cross-coupling error matrix.
      m23 - element 2,3 of cross-coupling error matrix.
      m33 - element 3,3 of cross-coupling error matrix.
      Returns:
      estimated true specific force squared norm.
      Throws:
      com.irurueta.numerical.EvaluationException - if there are numerical instabilities.