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

Interface KnownBiasGyroscopeCalibrator

All Known Subinterfaces:
KnownBiasAndFrameGyroscopeCalibrator<T,L>
All Known Implementing Classes:
KnownBiasAndFrameGyroscopeLinearLeastSquaresCalibrator, KnownBiasAndFrameGyroscopeNonLinearLeastSquaresCalibrator, KnownBiasEasyGyroscopeCalibrator, KnownBiasTurntableGyroscopeCalibrator, LMedSRobustKnownBiasAndFrameGyroscopeCalibrator, LMedSRobustKnownBiasEasyGyroscopeCalibrator, LMedSRobustKnownBiasTurntableGyroscopeCalibrator, MSACRobustKnownBiasAndFrameGyroscopeCalibrator, MSACRobustKnownBiasEasyGyroscopeCalibrator, MSACRobustKnownBiasTurntableGyroscopeCalibrator, PROMedSRobustKnownBiasAndFrameGyroscopeCalibrator, PROMedSRobustKnownBiasEasyGyroscopeCalibrator, PROMedSRobustKnownBiasTurntableGyroscopeCalibrator, PROSACRobustKnownBiasAndFrameGyroscopeCalibrator, PROSACRobustKnownBiasEasyGyroscopeCalibrator, PROSACRobustKnownBiasTurntableGyroscopeCalibrator, RANSACRobustKnownBiasAndFrameGyroscopeCalibrator, RANSACRobustKnownBiasEasyGyroscopeCalibrator, RANSACRobustKnownBiasTurntableGyroscopeCalibrator, RobustKnownBiasAndFrameGyroscopeCalibrator, RobustKnownBiasEasyGyroscopeCalibrator, RobustKnownBiasTurntableGyroscopeCalibrator
public interface KnownBiasGyroscopeCalibrator
Interface for gyroscope calibrator where bias is known.

  • Method Summary

    Modifier and Type
    Method
    Description
    double[]
    getBias()
    Gets known gyroscope bias as an array.
    void
    getBias(double[] result)
    Gets known gyroscope bias as an array.
    com.irurueta.units.AngularSpeed
    getBiasAngularSpeedX()
    Gets known x coordinate of gyroscope bias.
    void
    getBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)
    Gets known x coordinate of gyroscope bias.
    com.irurueta.units.AngularSpeed
    getBiasAngularSpeedY()
    Gets known y coordinate of gyroscope bias.
    void
    getBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)
    Gets known y coordinate of gyroscope bias.
    com.irurueta.units.AngularSpeed
    getBiasAngularSpeedZ()
    Gets known z coordinate of gyroscope bias.
    void
    getBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)
    Gets known z coordinate of gyroscope bias.
    com.irurueta.algebra.Matrix
    getBiasAsMatrix()
    Gets known gyroscope bias as a column matrix.
    void
    getBiasAsMatrix(com.irurueta.algebra.Matrix result)
    Gets known gyroscope bias as a column matrix.
    double
    getBiasX()
    Gets known x coordinate of gyroscope bias expressed in radians per second (rad/s).
    double
    getBiasY()
    Gets known y coordinate of gyroscope bias expressed in radians per second (rad/s).
    double
    getBiasZ()
    Gets known z coordinate of gyroscope bias expressed in radians per second (rad/s).
    void
    setBias(double[] bias)
    Sets known gyroscope bias as an array.
    void
    setBias(com.irurueta.algebra.Matrix bias)
    Sets known gyroscope bias as a column matrix.
    void
    setBiasCoordinates(double biasX, double biasY, double biasZ)
    Sets known gyroscope bias coordinates expressed in radians per second (rad/s).
    void
    setBiasCoordinates(com.irurueta.units.AngularSpeed biasX, com.irurueta.units.AngularSpeed biasY, com.irurueta.units.AngularSpeed biasZ)
    Sets known gyroscope bias coordinates.
    void
    setBiasX(double biasX)
    Sets known x coordinate of gyroscope bias expressed in radians per second (rad/s).
    void
    setBiasX(com.irurueta.units.AngularSpeed biasX)
    Sets known x coordinate of gyroscope bias.
    void
    setBiasY(double biasY)
    Sets known y coordinate of gyroscope bias expressed in radians per second (rad/s).
    void
    setBiasY(com.irurueta.units.AngularSpeed biasY)
    Sets known y coordinate of gyroscope bias.
    void
    setBiasZ(double biasZ)
    Sets known z coordinate of gyroscope bias expressed in radians per second (rad/s).
    void
    setBiasZ(com.irurueta.units.AngularSpeed biasZ)
    Sets known z coordinate of gyroscope bias.

  • Method Details

    • getBiasX

      double getBiasX()
      Gets known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      Returns:
      x coordinate of gyroscope bias.

    • setBiasX

      void setBiasX(double biasX) throws com.irurueta.navigation.LockedException
      Sets known x coordinate of gyroscope bias expressed in radians per second (rad/s).
      Parameters:
      biasX - x coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasY

      double getBiasY()
      Gets known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      Returns:
      y coordinate of gyroscope bias.

    • setBiasY

      void setBiasY(double biasY) throws com.irurueta.navigation.LockedException
      Sets known y coordinate of gyroscope bias expressed in radians per second (rad/s).
      Parameters:
      biasY - y coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasZ

      double getBiasZ()
      Gets known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      Returns:
      z coordinate of gyroscope bias.

    • setBiasZ

      void setBiasZ(double biasZ) throws com.irurueta.navigation.LockedException
      Sets known z coordinate of gyroscope bias expressed in radians per second (rad/s).
      Parameters:
      biasZ - z coordinate of gyroscope bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getBiasAngularSpeedX

      com.irurueta.units.AngularSpeed getBiasAngularSpeedX()
      Gets known x coordinate of gyroscope bias.
      Returns:
      x coordinate of gyroscope bias.

    • getBiasAngularSpeedX

      void getBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)
      Gets known x coordinate of gyroscope bias.
      Parameters:
      result - instance where result data will be stored.

    • setBiasX

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

    • getBiasAngularSpeedY

      com.irurueta.units.AngularSpeed getBiasAngularSpeedY()
      Gets known y coordinate of gyroscope bias.
      Returns:
      y coordinate of gyroscope bias.

    • getBiasAngularSpeedY

      void getBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)
      Gets known y coordinate of gyroscope bias.
      Parameters:
      result - instance where result data will be stored.

    • setBiasY

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

    • getBiasAngularSpeedZ

      com.irurueta.units.AngularSpeed getBiasAngularSpeedZ()
      Gets known z coordinate of gyroscope bias.
      Returns:
      z coordinate of gyroscope bias.

    • getBiasAngularSpeedZ

      void getBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)
      Gets known z coordinate of gyroscope bias.
      Parameters:
      result - instance where result data will be stored.

    • setBiasZ

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

    • setBiasCoordinates

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

    • setBiasCoordinates

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

    • getBias

      double[] getBias()
      Gets known gyroscope bias as an array. Array values are expressed in radians per second (rad/s).
      Returns:
      array containing coordinate of known bias.

    • getBias

      void getBias(double[] result)
      Gets known gyroscope bias as an array. Array values are expressed in radians per second (rad/s).
      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 gyroscope bias as an array. Array values are expressed in radians per second (rad/s).
      Parameters:
      bias - known gyroscope 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 gyroscope bias as a column matrix.
      Returns:
      known gyroscope bias as a column matrix.

    • getBiasAsMatrix

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