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

Interface KnownBiasAccelerometerCalibrator

All Known Subinterfaces:
KnownBiasAndFrameAccelerometerCalibrator<T,L>
All Known Implementing Classes:
BaseBiasGravityNormAccelerometerCalibrator, KnownBiasAndFrameAccelerometerLinearLeastSquaresCalibrator, KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator, KnownBiasAndGravityNormAccelerometerCalibrator, KnownBiasAndPositionAccelerometerCalibrator, LMedSRobustKnownBiasAndFrameAccelerometerCalibrator, LMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator, LMedSRobustKnownBiasAndPositionAccelerometerCalibrator, MSACRobustKnownBiasAndFrameAccelerometerCalibrator, MSACRobustKnownBiasAndGravityNormAccelerometerCalibrator, MSACRobustKnownBiasAndPositionAccelerometerCalibrator, PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator, PROMedSRobustKnownBiasAndGravityNormAccelerometerCalibrator, PROMedSRobustKnownBiasAndPositionAccelerometerCalibrator, PROSACRobustKnownBiasAndFrameAccelerometerCalibrator, PROSACRobustKnownBiasAndGravityNormAccelerometerCalibrator, PROSACRobustKnownBiasAndPositionAccelerometerCalibrator, RANSACRobustKnownBiasAndFrameAccelerometerCalibrator, RANSACRobustKnownBiasAndGravityNormAccelerometerCalibrator, RANSACRobustKnownBiasAndPositionAccelerometerCalibrator, RobustKnownBiasAndFrameAccelerometerCalibrator, RobustKnownBiasAndGravityNormAccelerometerCalibrator, RobustKnownBiasAndPositionAccelerometerCalibrator
public interface KnownBiasAccelerometerCalibrator
Interface for accelerometer calibrator where bias is known.

  • Method Summary

    Modifier and Type
    Method
    Description
    double[]
    getBias()
    Gets known accelerometer bias as an array.
    void
    getBias(double[] result)
    Gets known accelerometer bias as an array.
    com.irurueta.algebra.Matrix
    getBiasAsMatrix()
    Gets known accelerometer bias as a column matrix.
    void
    getBiasAsMatrix(com.irurueta.algebra.Matrix result)
    Gets known accelerometer bias as a column matrix.
    AccelerationTriad
    getBiasAsTriad()
    Gets known accelerometer bias.
    void
    getBiasAsTriad(AccelerationTriad result)
    Gets known accelerometer bias.
    double
    getBiasX()
    Gets known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration
    getBiasXAsAcceleration()
    Gets known x coordinate of accelerometer bias.
    void
    getBiasXAsAcceleration(com.irurueta.units.Acceleration result)
    Gets known x coordinate of accelerometer bias.
    double
    getBiasY()
    Gets known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration
    getBiasYAsAcceleration()
    Gets known y coordinate of accelerometer bias.
    void
    getBiasYAsAcceleration(com.irurueta.units.Acceleration result)
    Gets known y coordinate of accelerometer bias.
    double
    getBiasZ()
    Gets known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
    com.irurueta.units.Acceleration
    getBiasZAsAcceleration()
    Gets known z coordinate of accelerometer bias.
    void
    getBiasZAsAcceleration(com.irurueta.units.Acceleration result)
    Gets known z coordinate of accelerometer bias.
    void
    setBias(double[] bias)
    Sets known accelerometer bias as an array.
    void
    setBias(com.irurueta.algebra.Matrix bias)
    Sets known accelerometer bias as a column matrix.
    void
    setBias(AccelerationTriad bias)
    Sets known accelerometer bias.
    void
    setBiasCoordinates(double biasX, double biasY, double biasZ)
    Sets known accelerometer bias coordinates expressed in meters per squared second (m/s^2).
    void
    setBiasCoordinates(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
    Sets known accelerometer bias coordinates.
    void
    setBiasX(double biasX)
    Sets known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
    void
    setBiasX(com.irurueta.units.Acceleration biasX)
    Sets known x coordinate of accelerometer bias.
    void
    setBiasY(double biasY)
    Sets known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
    void
    setBiasY(com.irurueta.units.Acceleration biasY)
    Sets known y coordinate of accelerometer bias.
    void
    setBiasZ(double biasZ)
    Sets known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
    void
    setBiasZ(com.irurueta.units.Acceleration biasZ)
    Sets known z coordinate of accelerometer bias.

  • Method Details

    • getBiasX

      double getBiasX()
      Gets known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      x coordinate of accelerometer bias.

    • setBiasX

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

    • getBiasY

      double getBiasY()
      Gets known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      y coordinate of accelerometer bias.

    • setBiasY

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

    • getBiasZ

      double getBiasZ()
      Gets known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Returns:
      z coordinate of accelerometer bias.

    • setBiasZ

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

    • getBiasXAsAcceleration

      com.irurueta.units.Acceleration getBiasXAsAcceleration()
      Gets known x coordinate of accelerometer bias.
      Returns:
      x coordinate of accelerometer bias.

    • getBiasXAsAcceleration

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

    • setBiasX

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

    • getBiasYAsAcceleration

      com.irurueta.units.Acceleration getBiasYAsAcceleration()
      Gets known y coordinate of accelerometer bias.
      Returns:
      y coordinate of accelerometer bias.

    • getBiasYAsAcceleration

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

    • setBiasY

      void setBiasY(com.irurueta.units.Acceleration biasY) throws com.irurueta.navigation.LockedException
      Sets known y coordinate of accelerometer bias.
      Parameters:
      biasY - y coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is currently running.

    • getBiasZAsAcceleration

      com.irurueta.units.Acceleration getBiasZAsAcceleration()
      Gets known z coordinate of accelerometer bias.
      Returns:
      z coordinate of accelerometer bias.

    • getBiasZAsAcceleration

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

    • setBiasZ

      void setBiasZ(com.irurueta.units.Acceleration biasZ) throws com.irurueta.navigation.LockedException
      Sets known z coordinate of accelerometer bias.
      Parameters:
      biasZ - z coordinate of accelerometer bias.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is currently running.

    • setBiasCoordinates

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

    • setBiasCoordinates

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

    • getBiasAsTriad

      AccelerationTriad getBiasAsTriad()
      Gets known accelerometer bias.
      Returns:
      known accelerometer bias.

    • getBiasAsTriad

      void getBiasAsTriad(AccelerationTriad result)
      Gets known accelerometer bias.
      Parameters:
      result - instance where result will be stored.

    • setBias

      void setBias(AccelerationTriad bias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias.
      Parameters:
      bias - accelerometer bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBias

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

    • getBias

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

    • setBias

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

    • getBiasAsMatrix

      com.irurueta.algebra.Matrix getBiasAsMatrix()
      Gets known accelerometer bias as a column matrix.
      Returns:
      known accelerometer bias as a column matrix.

    • getBiasAsMatrix

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

    • setBias

      void setBias(com.irurueta.algebra.Matrix bias) throws com.irurueta.navigation.LockedException
      Sets known accelerometer bias as a column matrix.
      Parameters:
      bias - accelerometer bias to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided matrix is not 3x1.