Package com.irurueta.navigation.inertial.calibration.intervals

Class AngularSpeedTriadStaticIntervalDetector

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.TriadStaticIntervalDetector<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector,AngularSpeedTriadStaticIntervalDetectorListener>

com.irurueta.navigation.inertial.calibration.intervals.AngularSpeedTriadStaticIntervalDetector

All Implemented Interfaces:

GyroscopeNoiseRootPsdSource

public class AngularSpeedTriadStaticIntervalDetector
extends TriadStaticIntervalDetector<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector,AngularSpeedTriadStaticIntervalDetectorListener>
implements GyroscopeNoiseRootPsdSource

This detector is in charge of determining when a static period of angular speed measurements starts and finishes. Static periods are periods of time where the device is considered to remain static (no movement applied to it).

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.inertial.calibration.intervals.TriadStaticIntervalDetector

TriadStaticIntervalDetector.ErrorReason, TriadStaticIntervalDetector.Status

Field Summary

Fields inherited from class com.irurueta.navigation.inertial.calibration.intervals.TriadStaticIntervalDetector

DEFAULT_BASE_NOISE_LEVEL_ABSOLUTE_THRESHOLD, DEFAULT_INITIAL_STATIC_SAMPLES, DEFAULT_INSTANTANEOUS_NOISE_LEVEL_FACTOR, DEFAULT_THRESHOLD_FACTOR, DEFAULT_WINDOW_SIZE, MINIMUM_INITIAL_STATIC_SAMPLES

Constructor Summary

Constructors

Constructor	Description
AngularSpeedTriadStaticIntervalDetector()	Constructor.
AngularSpeedTriadStaticIntervalDetector(AngularSpeedTriadStaticIntervalDetectorListener listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected double	convertMeasurement(double value, com.irurueta.units.AngularSpeedUnit unit)	Converts provided angular speed value expressed in provided unit to radians per second (rad/s).
protected com.irurueta.units.AngularSpeed	createMeasurement(double value, com.irurueta.units.AngularSpeedUnit unit)	Creates an angular speed instance using provided value and unit.
protected AngularSpeedTriad	createTriad(double valueX, double valueY, double valueZ, com.irurueta.units.AngularSpeedUnit unit)	Creates an angular speed triad.
protected com.irurueta.units.AngularSpeedUnit	getDefaultUnit()	Gets default unit for angular speed, which is radians per second (rad/s).
double	getGyroscopeBaseNoiseLevelRootPsd()	Gets gyroscope base noise level root PSD (Power Spectral Density) expressed in (rad * s^-0.5)

Methods inherited from class com.irurueta.navigation.inertial.calibration.intervals.TriadStaticIntervalDetector

convertMeasurement, getAccumulatedAvgTriad, getAccumulatedAvgTriad, getAccumulatedAvgX, getAccumulatedAvgXAsMeasurement, getAccumulatedAvgXAsMeasurement, getAccumulatedAvgY, getAccumulatedAvgYAsMeasurement, getAccumulatedAvgYAsMeasurement, getAccumulatedAvgZ, getAccumulatedAvgZAsMeasurement, getAccumulatedAvgZAsMeasurement, getAccumulatedStdTriad, getAccumulatedStdTriad, getAccumulatedStdX, getAccumulatedStdXAsMeasurement, getAccumulatedStdXAsMeasurement, getAccumulatedStdY, getAccumulatedStdYAsMeasurement, getAccumulatedStdYAsMeasurement, getAccumulatedStdZ, getAccumulatedStdZAsMeasurement, getAccumulatedStdZAsMeasurement, getBaseNoiseLevel, getBaseNoiseLevelAbsoluteThreshold, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAbsoluteThresholdAsMeasurement, getBaseNoiseLevelAsMeasurement, getBaseNoiseLevelAsMeasurement, getBaseNoiseLevelPsd, getBaseNoiseLevelRootPsd, getInitialStaticSamples, getInstantaneousAvgTriad, getInstantaneousAvgTriad, getInstantaneousAvgX, getInstantaneousAvgXAsMeasurement, getInstantaneousAvgXAsMeasurement, getInstantaneousAvgY, getInstantaneousAvgYAsMeasurement, getInstantaneousAvgYAsMeasurement, getInstantaneousAvgZ, getInstantaneousAvgZAsMeasurement, getInstantaneousAvgZAsMeasurement, getInstantaneousNoiseLevelFactor, getInstantaneousStdTriad, getInstantaneousStdTriad, getInstantaneousStdX, getInstantaneousStdXAsMeasurement, getInstantaneousStdXAsMeasurement, getInstantaneousStdY, getInstantaneousStdYAsMeasurement, getInstantaneousStdYAsMeasurement, getInstantaneousStdZ, getInstantaneousStdZAsMeasurement, getInstantaneousStdZAsMeasurement, getListener, getProcessedSamples, getStatus, getThreshold, getThresholdAsMeasurement, getThresholdAsMeasurement, getThresholdFactor, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, getWindowSize, isRunning, process, process, process, reset, setBaseNoiseLevelAbsoluteThreshold, setBaseNoiseLevelAbsoluteThreshold, setInitialStaticSamples, setInstantaneousNoiseLevelFactor, setListener, setThresholdFactor, setTimeInterval, setTimeInterval, setWindowSize

Methods inherited from class java.lang.Object

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

Constructor Details

AngularSpeedTriadStaticIntervalDetector

public AngularSpeedTriadStaticIntervalDetector()

Constructor.

AngularSpeedTriadStaticIntervalDetector

public AngularSpeedTriadStaticIntervalDetector(AngularSpeedTriadStaticIntervalDetectorListener listener)

Constructor.

Parameters:

listener - listener to handle events generated by this detector.

Method Details

convertMeasurement

protected double convertMeasurement(double value,
 com.irurueta.units.AngularSpeedUnit unit)

Converts provided angular speed value expressed in provided unit to radians per second (rad/s).

Specified by:

convertMeasurement in class TriadStaticIntervalDetector<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector,AngularSpeedTriadStaticIntervalDetectorListener>

Parameters:

value - value to be converted.

unit - unit of value to be converted.

Returns:

converted value.

createMeasurement

protected com.irurueta.units.AngularSpeed createMeasurement(double value,
 com.irurueta.units.AngularSpeedUnit unit)

Creates an angular speed instance using provided value and unit.

Specified by:

createMeasurement in class TriadStaticIntervalDetector<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector,AngularSpeedTriadStaticIntervalDetectorListener>

Parameters:

value - value of measurement.

unit - unit of value.

Returns:

created angular speed.

getDefaultUnit

protected com.irurueta.units.AngularSpeedUnit getDefaultUnit()

Gets default unit for angular speed, which is radians per second (rad/s).

Specified by:

getDefaultUnit in class TriadStaticIntervalDetector<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector,AngularSpeedTriadStaticIntervalDetectorListener>

Returns:

default unit for angular speed

createTriad

protected AngularSpeedTriad createTriad(double valueX,
 double valueY,
 double valueZ,
 com.irurueta.units.AngularSpeedUnit unit)

Creates an angular speed triad.

Specified by:

createTriad in class TriadStaticIntervalDetector<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector,AngularSpeedTriadStaticIntervalDetectorListener>

Parameters:

valueX - x-coordinate value.

valueY - y-coordinate value.

valueZ - z-coordinate value.

unit - unit of values.

Returns:

created triad.

getGyroscopeBaseNoiseLevelRootPsd

public double getGyroscopeBaseNoiseLevelRootPsd()

Gets gyroscope base noise level root PSD (Power Spectral Density) expressed in (rad * s^-0.5)

Specified by:

getGyroscopeBaseNoiseLevelRootPsd in interface GyroscopeNoiseRootPsdSource

Returns:

gyroscope base noise level root PSD.