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

Interface UnknownBiasGyroscopeCalibrator

All Known Subinterfaces:
KnownFrameGyroscopeCalibrator<T,L>, UnknownBiasNonLinearGyroscopeCalibrator
All Known Implementing Classes:
EasyGyroscopeCalibrator, KnownFrameGyroscopeLinearLeastSquaresCalibrator, KnownFrameGyroscopeNonLinearLeastSquaresCalibrator, LMedSRobustEasyGyroscopeCalibrator, LMedSRobustKnownFrameGyroscopeCalibrator, LMedSRobustTurntableGyroscopeCalibrator, MSACRobustEasyGyroscopeCalibrator, MSACRobustKnownFrameGyroscopeCalibrator, MSACRobustTurntableGyroscopeCalibrator, PROMedSRobustEasyGyroscopeCalibrator, PROMedSRobustKnownFrameGyroscopeCalibrator, PROMedSRobustTurntableGyroscopeCalibrator, PROSACRobustEasyGyroscopeCalibrator, PROSACRobustKnownFrameGyroscopeCalibrator, PROSACRobustTurntableGyroscopeCalibrator, RANSACRobustEasyGyroscopeCalibrator, RANSACRobustKnownFrameGyroscopeCalibrator, RANSACRobustTurntableGyroscopeCalibrator, RobustEasyGyroscopeCalibrator, RobustKnownFrameGyroscopeCalibrator, RobustTurntableGyroscopeCalibrator, TurntableGyroscopeCalibrator
public interface UnknownBiasGyroscopeCalibrator
Interface for gyroscope calibrator where bias is unknown and needs to be estimated.

  • Method Details

    • getEstimatedBiases

      double[] getEstimatedBiases()
      Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Returns:
      array containing x,y,z components of estimated gyroscope biases.

    • getEstimatedBiases

      boolean getEstimatedBiases(double[] result)
      Gets array containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Parameters:
      result - instance where estimated gyroscope biases will be stored.
      Returns:
      true if result instance was updated, false otherwise (when estimation is not yet available).

    • getEstimatedBiasesAsMatrix

      com.irurueta.algebra.Matrix getEstimatedBiasesAsMatrix()
      Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Returns:
      column matrix containing x,y,z component of estimated gyroscope biases.

    • getEstimatedBiasesAsMatrix

      boolean getEstimatedBiasesAsMatrix(com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.WrongSizeException
      Gets column matrix containing x,y,z components of estimated gyroscope biases expressed in radians per second (rad/s).
      Parameters:
      result - instance where result data will be stored.
      Returns:
      true if result was updated, false otherwise.
      Throws:
      com.irurueta.algebra.WrongSizeException - if provided result instance has invalid size.

    • getEstimatedBiasX

      Double getEstimatedBiasX()
      Gets x coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
      Returns:
      x coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasY

      Double getEstimatedBiasY()
      Gets y coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
      Returns:
      y coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasZ

      Double getEstimatedBiasZ()
      Gets z coordinate of estimated gyroscope bias expressed in radians per second (rad/s).
      Returns:
      z coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedX

      com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedX()
      Gets x coordinate of estimated gyroscope bias.
      Returns:
      x coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedX

      boolean getEstimatedBiasAngularSpeedX(com.irurueta.units.AngularSpeed result)
      Gets x coordinate of estimated gyroscope bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAngularSpeedY

      com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedY()
      Gets y coordinate of estimated gyroscope bias.
      Returns:
      y coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedY

      boolean getEstimatedBiasAngularSpeedY(com.irurueta.units.AngularSpeed result)
      Gets y coordinate of estimated gyroscope bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAngularSpeedZ

      com.irurueta.units.AngularSpeed getEstimatedBiasAngularSpeedZ()
      Gets z coordinate of estimated gyroscope bias.
      Returns:
      z coordinate of estimated gyroscope bias or null if not available.

    • getEstimatedBiasAngularSpeedZ

      boolean getEstimatedBiasAngularSpeedZ(com.irurueta.units.AngularSpeed result)
      Gets z coordinate of estimated gyroscope bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if result was updated, false if estimation is not available.

    • getEstimatedBiasAsTriad

      AngularSpeedTriad getEstimatedBiasAsTriad()
      Gets estimated gyroscope bias.
      Returns:
      estimated gyroscope bias or null if not available.

    • getEstimatedBiasAsTriad

      boolean getEstimatedBiasAsTriad(AngularSpeedTriad result)
      Gets estimated gyroscope bias.
      Parameters:
      result - instance where result will be stored.
      Returns:
      true if estimated gyroscope bias is available and result was modified, false otherwise.