Package com.irurueta.navigation.inertial.calibration.magnetometer

Interface KnownHardIronMagnetometerCalibrator

All Known Subinterfaces:
KnownHardIronAndFrameMagnetometerCalibrator<T,L>
All Known Implementing Classes:
BaseKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator, KnownHardIronAndFrameMagnetometerNonLinearLeastSquaresCalibrator, KnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, KnownHardIronPositionAndInstantMagnetometerCalibrator, LMedSRobustKnownHardIronAndFrameMagnetometerCalibrator, LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, LMedSRobustKnownHardIronPositionAndInstantMagnetometerCalibrator, MSACRobustKnownHardIronAndFrameMagnetometerCalibrator, MSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, MSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator, PROMedSRobustKnownHardIronAndFrameMagnetometerCalibrator, PROMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, PROMedSRobustKnownHardIronPositionAndInstantMagnetometerCalibrator, PROSACRobustKnownHardIronAndFrameMagnetometerCalibrator, PROSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, PROSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator, RANSACRobustKnownHardIronAndFrameMagnetometerCalibrator, RANSACRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, RANSACRobustKnownHardIronPositionAndInstantMagnetometerCalibrator, RobustKnownHardIronAndFrameMagnetometerCalibrator, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator, RobustKnownHardIronPositionAndInstantMagnetometerCalibrator
public interface KnownHardIronMagnetometerCalibrator
Interface for magnetometer calibrator where hard-iron is known. Hard-iron term of magnetometer model behaves like accelerometer bias.

  • Method Summary

    Modifier and Type
    Method
    Description
    double[]
    getHardIron()
    Gets known hard-iron bias as an array.
    void
    getHardIron(double[] result)
    Gets known hard-iron bias as an array.
    MagneticFluxDensityTriad
    getHardIronAsTriad()
    Gets known hard-iron.
    void
    getHardIronAsTriad(MagneticFluxDensityTriad result)
    Gets known hard-iron.
    com.irurueta.algebra.Matrix
    getHardIronMatrix()
    Gets known hard-iron bias as a column matrix.
    void
    getHardIronMatrix(com.irurueta.algebra.Matrix result)
    Gets known hard-iron bias as a column matrix.
    double
    getHardIronX()
    Gets known x coordinate of magnetometer hard-iron expressed in Teslas (T).
    com.irurueta.units.MagneticFluxDensity
    getHardIronXAsMagneticFluxDensity()
    Gets known x coordinate of magnetometer hard-iron.
    void
    getHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
    Gets known x coordinate of magnetometer hard-iron.
    double
    getHardIronY()
    Gets known y coordinate of magnetometer hard-iron expressed in Teslas (T).
    com.irurueta.units.MagneticFluxDensity
    getHardIronYAsMagneticFluxDensity()
    Gets known y coordinate of magnetometer hard-iron.
    void
    getHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
    Gets known y coordinate of magnetometer hard-iron.
    double
    getHardIronZ()
    Gets known z coordinate of magnetometer hard-iron expressed in Teslas (T).
    com.irurueta.units.MagneticFluxDensity
    getHardIronZAsMagneticFluxDensity()
    Gets known z coordinate of magnetometer hard-iron.
    void
    getHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
    Gets known z coordinate of magnetometer hard-iron.
    void
    setHardIron(double[] hardIron)
    Sets known hard-iron bias as an array.
    void
    setHardIron(com.irurueta.algebra.Matrix hardIron)
    Sets known hard-iron bias as a column matrix.
    void
    setHardIron(MagneticFluxDensityTriad hardIron)
    Sets known hard-iron.
    void
    setHardIronCoordinates(double hardIronX, double hardIronY, double hardIronZ)
    Sets known hard-iron coordinates expressed in Teslas (T).
    void
    setHardIronCoordinates(com.irurueta.units.MagneticFluxDensity hardIronX, com.irurueta.units.MagneticFluxDensity hardIronY, com.irurueta.units.MagneticFluxDensity hardIronZ)
    Sets known hard-iron coordinates.
    void
    setHardIronX(double hardIronX)
    Sets known x coordinate of magnetometer hard-iron expressed in Teslas (T).
    void
    setHardIronX(com.irurueta.units.MagneticFluxDensity hardIronX)
    Sets known x-coordinate of magnetometer hard-iron.
    void
    setHardIronY(double hardIronY)
    Sets known y coordinate of magnetometer hard-iron expressed in Teslas (T).
    void
    setHardIronY(com.irurueta.units.MagneticFluxDensity hardIronY)
    Sets known y-coordinate of magnetometer hard-iron.
    void
    setHardIronZ(double hardIronZ)
    Sets known z coordinate of magnetometer hard-iron expressed in Teslas (T).
    void
    setHardIronZ(com.irurueta.units.MagneticFluxDensity hardIronZ)
    Sets known z-coordinate of magnetometer hard-iron.

  • Method Details

    • getHardIronX

      double getHardIronX()
      Gets known x coordinate of magnetometer hard-iron expressed in Teslas (T).
      Returns:
      x coordinate of magnetometer hard-iron.

    • setHardIronX

      void setHardIronX(double hardIronX) throws com.irurueta.navigation.LockedException
      Sets known x coordinate of magnetometer hard-iron expressed in Teslas (T).
      Parameters:
      hardIronX - x coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronY

      double getHardIronY()
      Gets known y coordinate of magnetometer hard-iron expressed in Teslas (T).
      Returns:
      y coordinate of magnetometer hard-iron.

    • setHardIronY

      void setHardIronY(double hardIronY) throws com.irurueta.navigation.LockedException
      Sets known y coordinate of magnetometer hard-iron expressed in Teslas (T).
      Parameters:
      hardIronY - y coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronZ

      double getHardIronZ()
      Gets known z coordinate of magnetometer hard-iron expressed in Teslas (T).
      Returns:
      z coordinate of magnetometer hard-iron.

    • setHardIronZ

      void setHardIronZ(double hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known z coordinate of magnetometer hard-iron expressed in Teslas (T).
      Parameters:
      hardIronZ - z coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronXAsMagneticFluxDensity

      com.irurueta.units.MagneticFluxDensity getHardIronXAsMagneticFluxDensity()
      Gets known x coordinate of magnetometer hard-iron.
      Returns:
      x coordinate of magnetometer hard-iron.

    • getHardIronXAsMagneticFluxDensity

      void getHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known x coordinate of magnetometer hard-iron.
      Parameters:
      result - instance where result will be stored.

    • setHardIronX

      void setHardIronX(com.irurueta.units.MagneticFluxDensity hardIronX) throws com.irurueta.navigation.LockedException
      Sets known x-coordinate of magnetometer hard-iron.
      Parameters:
      hardIronX - known x-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronYAsMagneticFluxDensity

      com.irurueta.units.MagneticFluxDensity getHardIronYAsMagneticFluxDensity()
      Gets known y coordinate of magnetometer hard-iron.
      Returns:
      y coordinate of magnetometer hard-iron.

    • getHardIronYAsMagneticFluxDensity

      void getHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known y coordinate of magnetometer hard-iron.
      Parameters:
      result - instance where result will be stored.

    • setHardIronY

      void setHardIronY(com.irurueta.units.MagneticFluxDensity hardIronY) throws com.irurueta.navigation.LockedException
      Sets known y-coordinate of magnetometer hard-iron.
      Parameters:
      hardIronY - known y-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronZAsMagneticFluxDensity

      com.irurueta.units.MagneticFluxDensity getHardIronZAsMagneticFluxDensity()
      Gets known z coordinate of magnetometer hard-iron.
      Returns:
      z coordinate of magnetometer hard-iron.

    • getHardIronZAsMagneticFluxDensity

      void getHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
      Gets known z coordinate of magnetometer hard-iron.
      Parameters:
      result - instance where result will be stored.

    • setHardIronZ

      void setHardIronZ(com.irurueta.units.MagneticFluxDensity hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known z-coordinate of magnetometer hard-iron.
      Parameters:
      hardIronZ - known z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setHardIronCoordinates

      void setHardIronCoordinates(double hardIronX, double hardIronY, double hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known hard-iron coordinates expressed in Teslas (T).
      Parameters:
      hardIronX - x-coordinate of magnetometer hard-iron.
      hardIronY - y-coordinate of magnetometer hard-iron.
      hardIronZ - z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setHardIronCoordinates

      void setHardIronCoordinates(com.irurueta.units.MagneticFluxDensity hardIronX, com.irurueta.units.MagneticFluxDensity hardIronY, com.irurueta.units.MagneticFluxDensity hardIronZ) throws com.irurueta.navigation.LockedException
      Sets known hard-iron coordinates.
      Parameters:
      hardIronX - x-coordinate of magnetometer hard-iron.
      hardIronY - y-coordinate of magnetometer hard-iron.
      hardIronZ - z-coordinate of magnetometer hard-iron.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIronAsTriad

      MagneticFluxDensityTriad getHardIronAsTriad()
      Gets known hard-iron.
      Returns:
      known hard-iron.

    • getHardIronAsTriad

      void getHardIronAsTriad(MagneticFluxDensityTriad result)
      Gets known hard-iron.
      Parameters:
      result - instance where result will be stored.

    • setHardIron

      void setHardIron(MagneticFluxDensityTriad hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron.
      Parameters:
      hardIron - hard-iron to be set.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getHardIron

      double[] getHardIron()
      Gets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Returns:
      array containing coordinates of known hard-iron bias.

    • getHardIron

      void getHardIron(double[] result)
      Gets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Parameters:
      result - instance where result data will be copied to.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • setHardIron

      void setHardIron(double[] hardIron) throws com.irurueta.navigation.LockedException
      Sets known hard-iron bias as an array. Array values are expressed in Teslas (T).
      Parameters:
      hardIron - known hard-iron bias.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      IllegalArgumentException - if provided array does not have length 3.

    • getHardIronMatrix

      com.irurueta.algebra.Matrix getHardIronMatrix()
      Gets known hard-iron bias as a column matrix.
      Returns:
      known hard-iron bias as a column matrix.

    • getHardIronMatrix

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

    • setHardIron

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