Package com.irurueta.navigation.inertial.calibration.gyroscope

Class EulerQuaternionStepIntegrator

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.QuaternionStepIntegrator

com.irurueta.navigation.inertial.calibration.gyroscope.EulerQuaternionStepIntegrator

public class EulerQuaternionStepIntegrator
extends QuaternionStepIntegrator

Computes an integration step of a quaternion using Euler's method. More information available here: https://en.wikipedia.org/wiki/Euler_method

Field Summary

Fields

Modifier and Type	Field	Description
private com.irurueta.algebra.Matrix	k1	Slope of quaternion derivative at initial timestamp t0 to be reused.
private com.irurueta.algebra.Matrix	omega0	Angular speed at initial timestamp t0 to be reused.
private com.irurueta.algebra.Matrix	omegaSkew	Skew antisymmetric matrix used for quaternion time derivative computation to be reused.
private com.irurueta.algebra.Matrix	quat	Initial attitude to be reused.
private com.irurueta.algebra.Matrix	quatResult	Instance where result of integration is stored in matrix form being reused.

Fields inherited from class com.irurueta.navigation.inertial.calibration.gyroscope.QuaternionStepIntegrator

DEFAULT_TYPE

Constructor Summary

Constructors

Constructor	Description
EulerQuaternionStepIntegrator()	Constructor.

Method Summary

Modifier and Type	Method	Description
QuaternionStepIntegratorType	getType()	Gets type of this integrator.
void	integrate(com.irurueta.geometry.Quaternion initialAttitude, double initialWx, double initialWy, double initialWz, double currentWx, double currentWy, double currentWz, double dt, com.irurueta.geometry.Quaternion result)	Performs an integration step using Euler's method.
static void	integrationStep(com.irurueta.geometry.Quaternion initialAttitude, double initialWx, double initialWy, double initialWz, double dt, com.irurueta.geometry.Quaternion result)	Performs an integration step using Euler's method.
private static void	integrationStep(com.irurueta.geometry.Quaternion initialAttitude, double initialWx, double initialWy, double initialWz, double dt, com.irurueta.geometry.Quaternion result, com.irurueta.algebra.Matrix omega0, com.irurueta.algebra.Matrix quat, com.irurueta.algebra.Matrix quatResult, com.irurueta.algebra.Matrix k1, com.irurueta.algebra.Matrix omegaSkew)	Internal method computing an integration step using Euler's method.

Methods inherited from class com.irurueta.navigation.inertial.calibration.gyroscope.QuaternionStepIntegrator

computeAverageAngularSpeed, computeOmegaSkew, computeTimeDerivative, copyAngularSpeedToMatrix, create, create

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

omega0

private com.irurueta.algebra.Matrix omega0

Angular speed at initial timestamp t0 to be reused.

quat

private com.irurueta.algebra.Matrix quat

Initial attitude to be reused.

quatResult

private com.irurueta.algebra.Matrix quatResult

Instance where result of integration is stored in matrix form being reused.

k1

private com.irurueta.algebra.Matrix k1

Slope of quaternion derivative at initial timestamp t0 to be reused.

omegaSkew

private com.irurueta.algebra.Matrix omegaSkew

Skew antisymmetric matrix used for quaternion time derivative computation to be reused.

Constructor Details

EulerQuaternionStepIntegrator

public EulerQuaternionStepIntegrator()

Constructor. Initializes matrices being reused.

Method Details

getType

public QuaternionStepIntegratorType getType()

Gets type of this integrator.

Specified by:

getType in class QuaternionStepIntegrator

Returns:

indicates type of this integrator.

integrate

public void integrate(com.irurueta.geometry.Quaternion initialAttitude,
 double initialWx,
 double initialWy,
 double initialWz,
 double currentWx,
 double currentWy,
 double currentWz,
 double dt,
 com.irurueta.geometry.Quaternion result)
               throws com.irurueta.geometry.RotationException

Performs an integration step using Euler's method. More information available here: https://en.wikipedia.org/wiki/Euler_method

Specified by:

integrate in class QuaternionStepIntegrator

Parameters:

initialAttitude - initial attitude.

initialWx - initial x-coordinate rotation velocity at initial timestamp expressed in radians per second (rad/s).

initialWy - initial y-coordinate rotation velocity at initial timestamp expressed in radians per second (rad/s).

initialWz - initial z-coordinate rotation velocity at initial timestamp expressed in radians per second (rad/s).*

currentWx - end x-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

currentWy - end y-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

currentWz - end z-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

dt - time step expressed in seconds.

result - instance where result of integration will be stored.

Throws:

com.irurueta.geometry.RotationException - if a numerical error occurs.

integrationStep

public static void integrationStep(com.irurueta.geometry.Quaternion initialAttitude,
 double initialWx,
 double initialWy,
 double initialWz,
 double dt,
 com.irurueta.geometry.Quaternion result)
                            throws com.irurueta.geometry.RotationException

Performs an integration step using Euler's method. More information available here: https://en.wikipedia.org/wiki/Euler_method This method should only be used sporadically. For better performance, if this method needs to be called very frequently, a new instance of EulerQuaternionStepIntegrator should be used and the non-static method should be used instead.

Parameters:

initialAttitude - initial attitude.

initialWx - end x-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

initialWy - end y-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

initialWz - end z-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

dt - time step expressed in seconds.

result - instance where result of integration will be stored.

Throws:

com.irurueta.geometry.RotationException - if a numerical error occurs.

integrationStep

private static void integrationStep(com.irurueta.geometry.Quaternion initialAttitude,
 double initialWx,
 double initialWy,
 double initialWz,
 double dt,
 com.irurueta.geometry.Quaternion result,
 com.irurueta.algebra.Matrix omega0,
 com.irurueta.algebra.Matrix quat,
 com.irurueta.algebra.Matrix quatResult,
 com.irurueta.algebra.Matrix k1,
 com.irurueta.algebra.Matrix omegaSkew)
                             throws com.irurueta.geometry.RotationException

Internal method computing an integration step using Euler's method. This method is used internally so that reusable instances can be provided as parameters.

Parameters:

initialAttitude - initial attitude.

initialWx - initial x-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

initialWy - initial y-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

initialWz - initial z-coordinate rotation velocity at current timestamp expressed in radians per second (rad/s).

dt - time step expressed in seconds.

result - instance where result of integration will be stored.

omega0 - angular speed at initial timestamp t0 to be reused. Must be 3x1.

quat - initial attitude to be reused. Must be 4x1.

quatResult - instance where result of integration is stored in matrix form being reused. Must be 4x1.

k1 - slope of quaternion derivative at initial timestamp t0 to be reused. Must be 4x1.

omegaSkew - skew antisymmetric matrix used for quaternion time derivative computation to be reused. Must be 4x4.

Throws:

com.irurueta.geometry.RotationException - if a numerical error occurs.