com.irurueta.navigation.inertial.calibration.magnetometer.RobustKnownFrameMagnetometerCalibrator

All Implemented Interfaces:: MagnetometerCalibrator, MagnetometerNonLinearCalibrator, OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator, UnknownHardIronMagnetometerCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator

Direct Known Subclasses:: LMedSRobustKnownFrameMagnetometerCalibrator, MSACRobustKnownFrameMagnetometerCalibrator, PROMedSRobustKnownFrameMagnetometerCalibrator, PROSACRobustKnownFrameMagnetometerCalibrator, RANSACRobustKnownFrameMagnetometerCalibrator

public abstract class RobustKnownFrameMagnetometerCalibrator extends Object implements MagnetometerNonLinearCalibrator, UnknownHardIronNonLinearMagnetometerCalibrator, OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator, QualityScoredMagnetometerCalibrator

This is an abstract class to robustly estimate magnetometer hard-iron biases, soft-iron cross couplings and scaling factors.

To use this calibrator at least 4 measurements at different known frames must be provided. In other words, magnetometer samples must be obtained at 4 different positions or orientations. Notice that frame velocities are ignored by this calibrator.

Measured magnetic flux density is assumed to follow the model shown below:

     mBmeas = bm + (I + Mm) * mBtrue + w

Where: - mBmeas is the measured magnetic flux density. This is a 3x1 vector. - bm is magnetometer hard-iron bias. Ideally, on a perfect magnetometer, this should be a 3x1 zero vector. - I is the 3x3 identity matrix. - Mm is the 3x3 soft-iron matrix containing cross-couplings and scaling factors. Ideally, on a perfect magnetometer, this should be a 3x3 zero matrix. - mBtrue is ground-truth magnetic flux density. This is a 3x1 vector. - w is measurement noise. This is a 3x1 vector.

Nested Class Summary

Nested Classes

Modifier and Type

Class

Description

protected static class

RobustKnownFrameMagnetometerCalibrator.PreliminaryResult

Internal class containing estimated preliminary result.
Field Summary

Fields

Modifier and Type

Field

Description

private boolean

commonAxisUsed

This flag indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer.

protected double

confidence

Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

static final double

DEFAULT_CONFIDENCE

Constant defining default confidence of the estimated result, which is 99%.

static final boolean

DEFAULT_KEEP_COVARIANCE

Indicates that covariance is kept by default after refining result.

static final int

DEFAULT_MAX_ITERATIONS

Default maximum allowed number of iterations.

static final float

DEFAULT_PROGRESS_DELTA

Default amount of progress variation before notifying a change in estimation progress.

static final boolean

DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

Indicates that by default preliminary solutions are refined.

static final boolean

DEFAULT_REFINE_RESULT

Indicates that result is refined by default using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).

static final com.irurueta.numerical.robust.RobustEstimatorMethod

DEFAULT_ROBUST_METHOD

Default robust estimator method when none is provided.

static final boolean

DEFAULT_USE_COMMON_Z_AXIS

Indicates whether by default a common z-axis is assumed for the accelerometer, gyroscope and magnetometer.

static final boolean

DEFAULT_USE_LINEAR_CALIBRATOR

Indicates that by default a linear calibrator is used for preliminary solution estimation.

private double

estimatedChiSq

Estimated chi square value.

private int

estimatedChiSqDegreesOfFreedom

Estimated degrees of freedom of chi square value.

private com.irurueta.algebra.Matrix

estimatedCovariance

Estimated covariance matrix for estimated parameters.

private double[]

estimatedHardIron

Estimated magnetometer hard-iron biases for each magnetometer axis expressed in Teslas (T).

private com.irurueta.algebra.Matrix

estimatedMm

Estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors.

private double

estimatedMse

Estimated mean square error respect to provided measurements.

private double

estimatedP

Estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0.

private double

estimatedQ

Estimated measure of quality of estimated fit as a value between 0.0 and 1.0.

private double

estimatedReducedChiSq

Estimated reduced chi square value.

private double

initialHardIronX

Initial x-coordinate of hard-iron bias to be used to find a solution.

private double

initialHardIronY

Initial y-coordinate of hard-iron bias to be used to find a solution.

private double

initialHardIronZ

Initial z-coordinate of hard-iron bias to be used to find a solution.

private double

initialMxy

Initial x-y cross coupling error.

private double

initialMxz

Initial x-z cross coupling error.

private double

initialMyx

Initial y-x cross coupling error.

private double

initialMyz

Initial y-z cross coupling error.

private double

initialMzx

Initial z-x cross coupling error.

private double

initialMzy

Initial z-y cross coupling error.

private double

initialSx

Initial x scaling factor.

private double

initialSy

Initial y scaling factor.

private double

initialSz

Initial z scaling factor.

protected com.irurueta.numerical.robust.InliersData

inliersData

Data related to inlier found after calibration.

private boolean

keepCovariance

Indicates whether covariance must be kept after refining result.

private final KnownFrameMagnetometerLinearLeastSquaresCalibrator

linearCalibrator

A linear least squares calibrator.

protected RobustKnownFrameMagnetometerCalibratorListener

listener

Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.

private WorldMagneticModel

magneticModel

Contains Earth's magnetic model.

static final double

MAX_CONFIDENCE

Maximum allowed confidence value.

static final float

MAX_PROGRESS_DELTA

Maximum allowed value for progress delta.

protected int

maxIterations

Maximum allowed number of iterations.

protected List<StandardDeviationFrameBodyMagneticFluxDensity>

measurements

Contains a list of body magnetic flux density measurements taken at different frames (positions and orientations) and containing the standard deviation of magnetometer measurements.

static final double

MIN_CONFIDENCE

Minimum allowed confidence value.

static final int

MIN_ITERATIONS

Minimum allowed number of iterations.

static final float

MIN_PROGRESS_DELTA

Minimum allowed value for progress delta.

static final int

MINIMUM_MEASUREMENTS

Required minimum number of measurements.

private final KnownFrameMagnetometerNonLinearLeastSquaresCalibrator

nonLinearCalibrator

A non-linear least squares calibrator.

protected int

preliminarySubsetSize

Size of subsets to be checked during robust estimation.

protected float

progressDelta

Amount of progress variation before notifying a progress change during calibration.

private boolean

refinePreliminarySolutions

Indicates whether preliminary solutions must be refined after an initial linear solution is found.

protected boolean

refineResult

Indicates whether result must be refined using a non linear calibrator over found inliers.

protected boolean

running

Indicates whether estimator is running.

private boolean

useLinearCalibrator

Indicates whether a linear calibrator is used or not for preliminary solutions.

private WMMEarthMagneticFluxDensityEstimator

wmmEstimator

World Magnetic Model estimator.
Constructor Summary

Constructors

Modifier

Constructor

Description

protected

RobustKnownFrameMagnetometerCalibrator()

Constructor.

protected

RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed)

Constructor.

protected

RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.

protected

RobustKnownFrameMagnetometerCalibrator(RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.

protected

RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)

Constructor.

protected

RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)

Constructor.

protected

RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.

protected

RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener)

Constructor.
Method Summary

Modifier and Type

Method

Description

protected void

attemptRefine(RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)

Attempts to refine calibration parameters if refinement is requested.

protected double

computeError(StandardDeviationFrameBodyMagneticFluxDensity measurement, RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)

Computes error of a preliminary result respect a given measurement.

protected void

computePreliminarySolutions(int[] samplesIndices, List<RobustKnownFrameMagnetometerCalibrator.PreliminaryResult> solutions)

Computes a preliminary solution for a subset of samples picked by a robust estimator.

private static double

convertMagneticFluxDensity(double value, com.irurueta.units.MagneticFluxDensityUnit unit)

Converts magnetic flux density value and unit to Teslas.

private static double

convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity magneticFluxDensity)

Converts magnetic flux density instance to Teslas.

static RobustKnownFrameMagnetometerCalibrator

create()

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(boolean commonAxisUsed)

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener)

Creates a robust known frame magnetometer calibrator using default robust method.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

static RobustKnownFrameMagnetometerCalibrator

create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust known frame magnetometer calibrator.

double

getConfidence()

Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

double

getEstimatedChiSq()

Gets estimated chi square value.

int

getEstimatedChiSqDegreesOfFreedom()

Gets estimated chi square degrees of freedom.

com.irurueta.algebra.Matrix

getEstimatedCovariance()

Gets estimated covariance matrix for estimated calibration parameters.

double[]

getEstimatedHardIron()

Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

boolean

getEstimatedHardIron(double[] result)

Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

com.irurueta.algebra.Matrix

getEstimatedHardIronAsMatrix()

Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

boolean

getEstimatedHardIronAsMatrix(com.irurueta.algebra.Matrix result)

Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).

MagneticFluxDensityTriad

getEstimatedHardIronAsTriad()

Gets estimated magnetometer bias.

boolean

getEstimatedHardIronAsTriad(MagneticFluxDensityTriad result)

Gets estimated magnetometer bias.

MagneticFluxDensityTriad

getEstimatedHardIronStandardDeviation()

Gets standard deviation of estimated magnetometer bias coordinates.

boolean

getEstimatedHardIronStandardDeviation(MagneticFluxDensityTriad result)

Gets standard deviation of estimated magnetometer bias coordinates.

Double

getEstimatedHardIronStandardDeviationAverage()

Gets average of estimated standard deviation of magnetometer bias coordinates expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity()

Gets average of estimated standard deviation of magnetometer bias coordinates.

boolean

getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets average of estimated standard deviation of magnetometer bias coordinates.

Double

getEstimatedHardIronStandardDeviationNorm()

Gets norm of estimated standard deviation of magnetometer bias expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity()

Gets norm of estimated standard deviation of magnetometer bias.

boolean

getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets norm of estimated standard deviation of magnetometer bias.

Double

getEstimatedHardIronX()

Gets x coordinate of estimated magnetometer bias expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronXAsMagneticFluxDensity()

Gets x coordinate of estimated magnetometer bias.

boolean

getEstimatedHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets x coordinate of estimated magnetometer bias.

Double

getEstimatedHardIronXStandardDeviation()

Gets standard deviation of estimated x coordinate of magnetometer bias expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity()

Gets standard deviation of estimated x coordinate of magnetometer bias.

boolean

getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets standard deviation of estimated x coordinate of magnetometer bias.

Double

getEstimatedHardIronXVariance()

Gets variance of estimated x coordinate of magnetometer bias expressed in squared Teslas (T^2).

Double

getEstimatedHardIronY()

Gets y coordinate of estimated magnetometer bias expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronYAsMagneticFluxDensity()

Gets y coordinate of estimated magnetometer bias.

boolean

getEstimatedHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets y coordinate of estimated magnetometer bias.

Double

getEstimatedHardIronYStandardDeviation()

Gets standard deviation of estimated y coordinate of magnetometer bias expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity()

Gets standard deviation of estimated y coordinate of magnetometer bias.

boolean

getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets standard deviation of estimated y coordinate of magnetometer bias.

Double

getEstimatedHardIronYVariance()

Gets variance of estimated y coordinate of magnetometer bias expressed in squared Teslas (T^2).

Double

getEstimatedHardIronZ()

Gets z coordinate of estimated magnetometer bias expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronZAsMagneticFluxDensity()

Gets z coordinate of estimated magnetometer bias.

boolean

getEstimatedHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets z coordinate of estimated magnetometer bias.

Double

getEstimatedHardIronZStandardDeviation()

Gets standard deviation of estimated z coordinate of magnetometer bias expressed in Teslas (T).

com.irurueta.units.MagneticFluxDensity

getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity()

Gets standard deviation of estimated z coordinate of magnetometer bias.

boolean

getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets standard deviation of estimated z coordinate of magnetometer bias.

Double

getEstimatedHardIronZVariance()

Gets variance of estimated z coordinate of magnetometer bias expressed in squared Teslas (T^2).

com.irurueta.algebra.Matrix

getEstimatedMm()

Gets estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors.

double

getEstimatedMse()

Gets estimated mean square error respect to provided measurements.

Double

getEstimatedMxy()

Gets estimated x-y cross-coupling error.

Double

getEstimatedMxz()

Gets estimated x-z cross-coupling error.

Double

getEstimatedMyx()

Gets estimated y-x cross-coupling error.

Double

getEstimatedMyz()

Gets estimated y-z cross-coupling error.

Double

getEstimatedMzx()

Gets estimated z-x cross-coupling error.

Double

getEstimatedMzy()

Gets estimated z-y cross-coupling error.

double

getEstimatedP()

Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0.

double

getEstimatedQ()

Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0.

double

getEstimatedReducedChiSq()

Gets estimated reduced chi square value.

Double

getEstimatedSx()

Gets estimated x-axis scale factor.

Double

getEstimatedSy()

Gets estimated y-axis scale factor.

Double

getEstimatedSz()

Gets estimated z-axis scale factor.

double[]

getInitialHardIron()

Gets initial hard-iron bias to be used to find a solution as an array.

void

getInitialHardIron(double[] result)

Gets initial hard-iron bias to be used to find a solution as an array.

com.irurueta.algebra.Matrix

getInitialHardIronAsMatrix()

Gets initial hard-iron bias to be used to find a solution as a column matrix.

void

getInitialHardIronAsMatrix(com.irurueta.algebra.Matrix result)

Gets initial hard-iron bias to be used to find a solution as a column matrix.

MagneticFluxDensityTriad

getInitialHardIronAsTriad()

Gets initial hard-iron used to find a solution.

void

getInitialHardIronAsTriad(MagneticFluxDensityTriad result)

Gets initial hard-iron used to find a solution.

double

getInitialHardIronX()

Gets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution.

com.irurueta.units.MagneticFluxDensity

getInitialHardIronXAsMagneticFluxDensity()

Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.

void

getInitialHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.

double

getInitialHardIronY()

Gets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution.

com.irurueta.units.MagneticFluxDensity

getInitialHardIronYAsMagneticFluxDensity()

Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.

void

getInitialHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.

double

getInitialHardIronZ()

Gets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution.

com.irurueta.units.MagneticFluxDensity

getInitialHardIronZAsMagneticFluxDensity()

Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.

void

getInitialHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)

Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.

com.irurueta.algebra.Matrix

getInitialMm()

Gets initial scale factors and cross coupling errors matrix.

void

getInitialMm(com.irurueta.algebra.Matrix result)

Gets initial scale factors and cross coupling errors matrix.

double

getInitialMxy()

Gets initial x-y cross coupling error.

double

getInitialMxz()

Gets initial x-z cross coupling error.

double

getInitialMyx()

Gets initial y-x cross coupling error.

double

getInitialMyz()

Gets initial y-z cross coupling error.

double

getInitialMzx()

Gets initial z-x cross coupling error.

double

getInitialMzy()

Gets initial z-y cross coupling error.

double

getInitialSx()

Gets initial x scaling factor.

double

getInitialSy()

Gets initial y scaling factor.

double

getInitialSz()

Gets initial z scaling factor.

com.irurueta.numerical.robust.InliersData

getInliersData()

Gets data related to inliers found after estimation.

RobustKnownFrameMagnetometerCalibratorListener

getListener()

Gets listener to handle events raised by this calibrator.

WorldMagneticModel

getMagneticModel()

Gets Earth's magnetic model.

int

getMaxIterations()

Returns maximum allowed number of iterations.

List<StandardDeviationFrameBodyMagneticFluxDensity>

getMeasurements()

Gets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).

MagnetometerCalibratorMeasurementType

getMeasurementType()

Indicates the type of measurement used by this calibrator.

abstract com.irurueta.numerical.robust.RobustEstimatorMethod

getMethod()

Returns method being used for robust estimation.

int

getMinimumRequiredMeasurements()

Gets minimum number of required measurements.

int

getPreliminarySubsetSize()

Gets size of subsets to be checked during robust estimation.

float

getProgressDelta()

Returns amount of progress variation before notifying a progress change during calibration.

double[]

getQualityScores()

Returns quality scores corresponding to each measurement.

boolean

isCommonAxisUsed()

Indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer.

boolean

isCovarianceKept()

Indicates whether covariance must be kept after refining result.

boolean

isLinearCalibratorUsed()

Indicates whether a linear calibrator is used or not for preliminary solutions.

boolean

isOrderedMeasurementsRequired()

Indicates whether this calibrator requires ordered measurements in a list or not.

boolean

isPreliminarySolutionRefined()

Indicates whether preliminary solutions must be refined after an initial linear solution is found.

boolean

isReady()

Indicates whether calibrator is ready to start the estimator.

boolean

isResultRefined()

Indicates whether result must be refined using a non-linear solver over found inliers.

boolean

isRunning()

Indicates whether calibrator is currently running or no.

void

setCommonAxisUsed(boolean commonAxisUsed)

Specifies whether z-axis is assumed to be common for accelerometer and gyroscope.

void

setConfidence(double confidence)

Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).

void

setCovarianceKept(boolean keepCovariance)

Specifies whether covariance must be kept after refining result.

void

setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)

Sets initial cross coupling errors.

void

setInitialHardIron(double[] initialHardIron)

Sets initial hard-iron bias to be used to find a solution as an array.

void

setInitialHardIron(double initialHardIronX, double initialHardIronY, double initialHardIronZ)

Sets initial hard-iron bias coordinates of magnetometer used to find a solution expressed in Teslas (T).

void

setInitialHardIron(com.irurueta.algebra.Matrix initialHardIron)

Sets initial hard-iron bias to be used to find a solution as a column matrix with values expressed in Teslas (T).

void

setInitialHardIron(MagneticFluxDensityTriad initialHardIron)

Sets initial hard-iron used to find a solution.

void

setInitialHardIron(com.irurueta.units.MagneticFluxDensity initialHardIronX, com.irurueta.units.MagneticFluxDensity initialHardIronY, com.irurueta.units.MagneticFluxDensity initialHardIronZ)

Sets initial hard iron coordinates of magnetometer used to find a solution.

void

setInitialHardIronX(double initialHardIronX)

Sets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution.

void

setInitialHardIronX(com.irurueta.units.MagneticFluxDensity initialHardIronX)

Sets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.

void

setInitialHardIronY(double initialHardIronY)

Sets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution.

void

setInitialHardIronY(com.irurueta.units.MagneticFluxDensity initialHardIronY)

Sets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.

void

setInitialHardIronZ(double initialHardIronZ)

Sets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution.

void

setInitialHardIronZ(com.irurueta.units.MagneticFluxDensity initialHardIronZ)

Sets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.

void

setInitialMm(com.irurueta.algebra.Matrix initialMm)

Sets initial scale factors and cross coupling errors matrix.

void

setInitialMxy(double initialMxy)

Sets initial x-y cross coupling error.

void

setInitialMxz(double initialMxz)

Sets initial x-z cross coupling error.

void

setInitialMyx(double initialMyx)

Sets initial y-x cross coupling error.

void

setInitialMyz(double initialMyz)

Sets initial y-z cross coupling error.

void

setInitialMzx(double initialMzx)

Sets initial z-x cross coupling error.

void

setInitialMzy(double initialMzy)

Sets initial z-y cross coupling error.

void

setInitialScalingFactors(double initialSx, double initialSy, double initialSz)

Sets initial scaling factors.

void

setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)

Sets initial scaling factors and cross coupling errors.

void

setInitialSx(double initialSx)

Sets initial x scaling factor.

void

setInitialSy(double initialSy)

Sets initial y scaling factor.

void

setInitialSz(double initialSz)

Sets initial z scaling factor.

void

setLinearCalibratorUsed(boolean linearCalibratorUsed)

Specifies whether a linear calibrator is used or not for preliminary solutions.

void

setListener(RobustKnownFrameMagnetometerCalibratorListener listener)

Sets listener to handle events raised by this calibrator.

void

setMagneticModel(WorldMagneticModel magneticModel)

Sets Earth's magnetic model.

void

setMaxIterations(int maxIterations)

Sets maximum allowed number of iterations.

void

setMeasurements(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)

Sets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).

void

setPreliminarySolutionRefined(boolean preliminarySolutionRefined)

Specifies whether preliminary solutions must be refined after an initial linear solution is found.

void

setPreliminarySubsetSize(int preliminarySubsetSize)

Sets size of subsets to be checked during robust estimation.

void

setProgressDelta(float progressDelta)

Sets amount of progress variation before notifying a progress change during calibration.

void

setQualityScores(double[] qualityScores)

Sets quality scores corresponding to each measurement.

void

setResultRefined(boolean refineResult)

Specifies whether result must be refined using a non-linear solver over found inliers.

protected void

setupWmmEstimator()

Setups World Magnetic Model estimator.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerCalibrator
calibrate, isQualityScoresRequired

Field Details
- DEFAULT_USE_COMMON_Z_AXIS
  
  public static final boolean DEFAULT_USE_COMMON_Z_AXIS
  
  Indicates whether by default a common z-axis is assumed for the accelerometer, gyroscope and magnetometer.
  See Also:
  
  Constant Field Values
- MINIMUM_MEASUREMENTS
  
  public static final int MINIMUM_MEASUREMENTS
  
  Required minimum number of measurements.
  See Also:
  
  Constant Field Values
- DEFAULT_USE_LINEAR_CALIBRATOR
  
  public static final boolean DEFAULT_USE_LINEAR_CALIBRATOR
  
  Indicates that by default a linear calibrator is used for preliminary solution estimation. The result obtained on each preliminary solution might be later refined.
  See Also:
  
  Constant Field Values
- DEFAULT_REFINE_PRELIMINARY_SOLUTIONS
  
  public static final boolean DEFAULT_REFINE_PRELIMINARY_SOLUTIONS
  
  Indicates that by default preliminary solutions are refined.
  See Also:
  
  Constant Field Values
- DEFAULT_ROBUST_METHOD
  
  public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
  
  Default robust estimator method when none is provided.
- DEFAULT_REFINE_RESULT
  
  public static final boolean DEFAULT_REFINE_RESULT
  
  Indicates that result is refined by default using a non-linear calibrator (which uses a Levenberg-Marquardt fitter).
  See Also:
  
  Constant Field Values
- DEFAULT_KEEP_COVARIANCE
  
  public static final boolean DEFAULT_KEEP_COVARIANCE
  
  Indicates that covariance is kept by default after refining result.
  See Also:
  
  Constant Field Values
- DEFAULT_PROGRESS_DELTA
  
  public static final float DEFAULT_PROGRESS_DELTA
  
  Default amount of progress variation before notifying a change in estimation progress. By default this is set to 5%.
  See Also:
  
  Constant Field Values
- MIN_PROGRESS_DELTA
  
  public static final float MIN_PROGRESS_DELTA
  
  Minimum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- MAX_PROGRESS_DELTA
  
  public static final float MAX_PROGRESS_DELTA
  
  Maximum allowed value for progress delta.
  See Also:
  
  Constant Field Values
- DEFAULT_CONFIDENCE
  
  public static final double DEFAULT_CONFIDENCE
  
  Constant defining default confidence of the estimated result, which is 99%. This means that with a probability of 99% estimation will be accurate because chosen sub-samples will be inliers.
  See Also:
  
  Constant Field Values
- DEFAULT_MAX_ITERATIONS
  
  public static final int DEFAULT_MAX_ITERATIONS
  
  Default maximum allowed number of iterations.
  See Also:
  
  Constant Field Values
- MIN_CONFIDENCE
  
  public static final double MIN_CONFIDENCE
  
  Minimum allowed confidence value.
  See Also:
  
  Constant Field Values
- MAX_CONFIDENCE
  
  public static final double MAX_CONFIDENCE
  
  Maximum allowed confidence value.
  See Also:
  
  Constant Field Values
- MIN_ITERATIONS
  
  public static final int MIN_ITERATIONS
  
  Minimum allowed number of iterations.
  See Also:
  
  Constant Field Values
- measurements
  
  protected List<StandardDeviationFrameBodyMagneticFluxDensity> measurements
  
  Contains a list of body magnetic flux density measurements taken at different frames (positions and orientations) and containing the standard deviation of magnetometer measurements. If a single device magnetometer needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given magnetometer model (e.g. obtain an average and less precise calibration for the magnetometer of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
- listener
  
  protected RobustKnownFrameMagnetometerCalibratorListener listener
  
  Listener to be notified of events such as when calibration starts, ends or its progress significantly changes.
- running
  
  protected boolean running
  
  Indicates whether estimator is running.
- progressDelta
  
  protected float progressDelta
  
  Amount of progress variation before notifying a progress change during calibration.
- confidence
  
  protected double confidence
  
  Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
- maxIterations
  
  protected int maxIterations
  
  Maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
- inliersData
  
  protected com.irurueta.numerical.robust.InliersData inliersData
  
  Data related to inlier found after calibration.
- refineResult
  
  protected boolean refineResult
  
  Indicates whether result must be refined using a non linear calibrator over found inliers. If true, inliers will be computed and kept in any implementation regardless of the settings.
- preliminarySubsetSize
  
  protected int preliminarySubsetSize
  
  Size of subsets to be checked during robust estimation.
- commonAxisUsed
  
  private boolean commonAxisUsed
  
  This flag indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from soft-iron (Mm) matrix.
- initialHardIronX
  
  private double initialHardIronX
  
  Initial x-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
- initialHardIronY
  
  private double initialHardIronY
  
  Initial y-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
- initialHardIronZ
  
  private double initialHardIronZ
  
  Initial z-coordinate of hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
- initialSx
  
  private double initialSx
  
  Initial x scaling factor.
- initialSy
  
  private double initialSy
  
  Initial y scaling factor.
- initialSz
  
  private double initialSz
  
  Initial z scaling factor.
- initialMxy
  
  private double initialMxy
  
  Initial x-y cross coupling error.
- initialMxz
  
  private double initialMxz
  
  Initial x-z cross coupling error.
- initialMyx
  
  private double initialMyx
  
  Initial y-x cross coupling error.
- initialMyz
  
  private double initialMyz
  
  Initial y-z cross coupling error.
- initialMzx
  
  private double initialMzx
  
  Initial z-x cross coupling error.
- initialMzy
  
  private double initialMzy
  
  Initial z-y cross coupling error.
- useLinearCalibrator
  
  private boolean useLinearCalibrator
  
  Indicates whether a linear calibrator is used or not for preliminary solutions.
- refinePreliminarySolutions
  
  private boolean refinePreliminarySolutions
  
  Indicates whether preliminary solutions must be refined after an initial linear solution is found.
- estimatedHardIron
  
  private double[] estimatedHardIron
  
  Estimated magnetometer hard-iron biases for each magnetometer axis expressed in Teslas (T).
- estimatedMm
  
  private com.irurueta.algebra.Matrix estimatedMm
  Estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat:
  Mm = [sx mxy mxz] = Tm*Km [myx sy myz] [mzx mzy sz ]
  Where:
  Km = [sx 0 0 ] [0 sy 0 ] [0 0 sz]
  and
  Tm = [1 -alphaXy alphaXz ] [alphaYx 1 -alphaYz] [-alphaZx alphaZy 1 ]
  Hence:
  Mm = [sx mxy mxz] = Tm*Km = [sx -sy * alphaXy sz * alphaXz ] [myx sy myz] [sx * alphaYx sy -sz * alphaYz] [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
  This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal:
  Mm = [sx mxy mxz] [0 sy myz] [0 0 sz ]
  Values of this matrix are unit-less.
- keepCovariance
  
  private boolean keepCovariance
  
  Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
- estimatedCovariance
  
  private com.irurueta.algebra.Matrix estimatedCovariance
  
  Estimated covariance matrix for estimated parameters.
- estimatedChiSq
  
  private double estimatedChiSq
  
  Estimated chi square value.
- estimatedChiSqDegreesOfFreedom
  
  private int estimatedChiSqDegreesOfFreedom
  
  Estimated degrees of freedom of chi square value. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.
- estimatedReducedChiSq
  
  private double estimatedReducedChiSq
  
  Estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of freedom. Ideally this value should be close to 1.0.
- estimatedMse
  
  private double estimatedMse
  
  Estimated mean square error respect to provided measurements.
- estimatedP
  
  private double estimatedP
  
  Estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.
- estimatedQ
  
  private double estimatedQ
  
  Estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is, the better the fit that has been estimated.
- magneticModel
  
  private WorldMagneticModel magneticModel
  
  Contains Earth's magnetic model.
- linearCalibrator
  
  private final KnownFrameMagnetometerLinearLeastSquaresCalibrator linearCalibrator
  
  A linear least squares calibrator.
- nonLinearCalibrator
  
  private final KnownFrameMagnetometerNonLinearLeastSquaresCalibrator nonLinearCalibrator
  
  A non-linear least squares calibrator.
- wmmEstimator
  
  private WMMEarthMagneticFluxDensityEstimator wmmEstimator
  
  World Magnetic Model estimator.
Constructor Details
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator()
  
  Constructor.
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator(RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  listener - listener to handle events raised by this calibrator.
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed)
  
  Constructor.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
- RobustKnownFrameMagnetometerCalibrator
  
  protected RobustKnownFrameMagnetometerCalibrator(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
Method Details
- getInitialHardIronX
  
  public double getInitialHardIronX()
  
  Gets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
  
  Specified by:
  
  getInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial x-coordinate of magnetometer hard-iron bias.
- setInitialHardIronX
  
  public void setInitialHardIronX(double initialHardIronX) throws com.irurueta.navigation.LockedException
  
  Sets initial x-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
  
  Specified by:
  
  setInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronX - initial x-coordinate of magnetometer hard-iron bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialHardIronY
  
  public double getInitialHardIronY()
  
  Gets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
  
  Specified by:
  
  getInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial y-coordinate of magnetometer hard-iron bias.
- setInitialHardIronY
  
  public void setInitialHardIronY(double initialHardIronY) throws com.irurueta.navigation.LockedException
  
  Sets initial y-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
  
  Specified by:
  
  setInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronY - initial y-coordinate of magnetometer hard-iron bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialHardIronZ
  
  public double getInitialHardIronZ()
  
  Gets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in Teslas (T).
  
  Specified by:
  
  getInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial z-coordinate of magnetometer hard-iron bias.
- setInitialHardIronZ
  
  public void setInitialHardIronZ(double initialHardIronZ) throws com.irurueta.navigation.LockedException
  
  Sets initial z-coordinate of magnetometer hard-iron bias to be used to find a solution. This is expressed in meters Teslas (T).
  
  Specified by:
  
  setInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronZ - initial z-coordinate of magnetometer hard-iron bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialHardIronXAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getInitialHardIronXAsMagneticFluxDensity()
  
  Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  getInitialHardIronXAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial x-coordinate of magnetometer hard-iron bias.
- getInitialHardIronXAsMagneticFluxDensity
  
  public void getInitialHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  getInitialHardIronXAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
- setInitialHardIronX
  
  public void setInitialHardIronX(com.irurueta.units.MagneticFluxDensity initialHardIronX) throws com.irurueta.navigation.LockedException
  
  Sets initial x-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  setInitialHardIronX in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronX - initial x-coordinate of magnetometer bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialHardIronYAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getInitialHardIronYAsMagneticFluxDensity()
  
  Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  getInitialHardIronYAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial y-coordinate of magnetometer hard-iron bias.
- getInitialHardIronYAsMagneticFluxDensity
  
  public void getInitialHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  getInitialHardIronYAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
- setInitialHardIronY
  
  public void setInitialHardIronY(com.irurueta.units.MagneticFluxDensity initialHardIronY) throws com.irurueta.navigation.LockedException
  
  Sets initial y-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  setInitialHardIronY in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronY - initial y-coordinate of magnetometer bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialHardIronZAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getInitialHardIronZAsMagneticFluxDensity()
  
  Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  getInitialHardIronZAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial z-coordinate of magnetometer hard-iron bias.
- getInitialHardIronZAsMagneticFluxDensity
  
  public void getInitialHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  getInitialHardIronZAsMagneticFluxDensity in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
- setInitialHardIronZ
  
  public void setInitialHardIronZ(com.irurueta.units.MagneticFluxDensity initialHardIronZ) throws com.irurueta.navigation.LockedException
  
  Sets initial z-coordinate of magnetometer hard iron bias to be used to find a solution.
  
  Specified by:
  
  setInitialHardIronZ in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronZ - initial z-coordinate of magnetometer bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- setInitialHardIron
  
  public void setInitialHardIron(double initialHardIronX, double initialHardIronY, double initialHardIronZ) throws com.irurueta.navigation.LockedException
  
  Sets initial hard-iron bias coordinates of magnetometer used to find a solution expressed in Teslas (T).
  
  Specified by:
  
  setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronX - initial x-coordinate of magnetometer hard-iron bias.
  
  initialHardIronY - initial y-coordinate of magnetometer hard-iron bias.
  
  initialHardIronZ - initial z-coordinate of magnetometer hard-iron bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- setInitialHardIron
  
  public void setInitialHardIron(com.irurueta.units.MagneticFluxDensity initialHardIronX, com.irurueta.units.MagneticFluxDensity initialHardIronY, com.irurueta.units.MagneticFluxDensity initialHardIronZ) throws com.irurueta.navigation.LockedException
  
  Sets initial hard iron coordinates of magnetometer used to find a solution.
  
  Specified by:
  
  setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIronX - initial x-coordinate of magnetometer bias.
  
  initialHardIronY - initial y-coordinate of magnetometer bias.
  
  initialHardIronZ - initial z-coordinate of magnetometer bias.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialHardIronAsTriad
  
  public MagneticFluxDensityTriad getInitialHardIronAsTriad()
  
  Gets initial hard-iron used to find a solution.
  
  Specified by:
  
  getInitialHardIronAsTriad in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial hard-iron.
- getInitialHardIronAsTriad
  
  public void getInitialHardIronAsTriad(MagneticFluxDensityTriad result)
  
  Gets initial hard-iron used to find a solution.
  
  Specified by:
  
  getInitialHardIronAsTriad in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
- setInitialHardIron
  
  public void setInitialHardIron(MagneticFluxDensityTriad initialHardIron) throws com.irurueta.navigation.LockedException
  
  Sets initial hard-iron used to find a solution.
  
  Specified by:
  
  setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIron - initial hard-iron to be set.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialSx
  
  public double getInitialSx()
  
  Gets initial x scaling factor.
  
  Specified by:
  
  getInitialSx in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial x scaling factor.
- setInitialSx
  
  public void setInitialSx(double initialSx) throws com.irurueta.navigation.LockedException
  
  Sets initial x scaling factor.
  
  Specified by:
  
  setInitialSx in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialSx - initial x scaling factor.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialSy
  
  public double getInitialSy()
  
  Gets initial y scaling factor.
  
  Specified by:
  
  getInitialSy in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial y scaling factor.
- setInitialSy
  
  public void setInitialSy(double initialSy) throws com.irurueta.navigation.LockedException
  
  Sets initial y scaling factor.
  
  Specified by:
  
  setInitialSy in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialSy - initial y scaling factor.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialSz
  
  public double getInitialSz()
  
  Gets initial z scaling factor.
  
  Specified by:
  
  getInitialSz in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial z scaling factor.
- setInitialSz
  
  public void setInitialSz(double initialSz) throws com.irurueta.navigation.LockedException
  
  Sets initial z scaling factor.
  
  Specified by:
  
  setInitialSz in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialSz - initial z scaling factor.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMxy
  
  public double getInitialMxy()
  
  Gets initial x-y cross coupling error.
  
  Specified by:
  
  getInitialMxy in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial x-y cross coupling error.
- setInitialMxy
  
  public void setInitialMxy(double initialMxy) throws com.irurueta.navigation.LockedException
  
  Sets initial x-y cross coupling error.
  
  Specified by:
  
  setInitialMxy in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMxy - initial x-y cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMxz
  
  public double getInitialMxz()
  
  Gets initial x-z cross coupling error.
  
  Specified by:
  
  getInitialMxz in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial x-z cross coupling error.
- setInitialMxz
  
  public void setInitialMxz(double initialMxz) throws com.irurueta.navigation.LockedException
  
  Sets initial x-z cross coupling error.
  
  Specified by:
  
  setInitialMxz in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMxz - initial x-z cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMyx
  
  public double getInitialMyx()
  
  Gets initial y-x cross coupling error.
  
  Specified by:
  
  getInitialMyx in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial y-x cross coupling error.
- setInitialMyx
  
  public void setInitialMyx(double initialMyx) throws com.irurueta.navigation.LockedException
  
  Sets initial y-x cross coupling error.
  
  Specified by:
  
  setInitialMyx in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMyx - initial y-x cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMyz
  
  public double getInitialMyz()
  
  Gets initial y-z cross coupling error.
  
  Specified by:
  
  getInitialMyz in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial y-z cross coupling error.
- setInitialMyz
  
  public void setInitialMyz(double initialMyz) throws com.irurueta.navigation.LockedException
  
  Sets initial y-z cross coupling error.
  
  Specified by:
  
  setInitialMyz in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMyz - initial y-z cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMzx
  
  public double getInitialMzx()
  
  Gets initial z-x cross coupling error.
  
  Specified by:
  
  getInitialMzx in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial z-x cross coupling error.
- setInitialMzx
  
  public void setInitialMzx(double initialMzx) throws com.irurueta.navigation.LockedException
  
  Sets initial z-x cross coupling error.
  
  Specified by:
  
  setInitialMzx in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMzx - initial z-x cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialMzy
  
  public double getInitialMzy()
  
  Gets initial z-y cross coupling error.
  
  Specified by:
  
  getInitialMzy in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial z-y cross coupling error.
- setInitialMzy
  
  public void setInitialMzy(double initialMzy) throws com.irurueta.navigation.LockedException
  
  Sets initial z-y cross coupling error.
  
  Specified by:
  
  setInitialMzy in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMzy - initial z-y cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- setInitialScalingFactors
  
  public void setInitialScalingFactors(double initialSx, double initialSy, double initialSz) throws com.irurueta.navigation.LockedException
  
  Sets initial scaling factors.
  
  Specified by:
  
  setInitialScalingFactors in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialSx - initial x scaling factor.
  
  initialSy - initial y scaling factor.
  
  initialSz - initial z scaling factor.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- setInitialCrossCouplingErrors
  
  public void setInitialCrossCouplingErrors(double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
  
  Sets initial cross coupling errors.
  
  Specified by:
  
  setInitialCrossCouplingErrors in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMxy - initial x-y cross coupling error.
  
  initialMxz - initial x-z cross coupling error.
  
  initialMyx - initial y-x cross coupling error.
  
  initialMyz - initial y-z cross coupling error.
  
  initialMzx - initial z-x cross coupling error.
  
  initialMzy - initial z-y cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- setInitialScalingFactorsAndCrossCouplingErrors
  
  public void setInitialScalingFactorsAndCrossCouplingErrors(double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy) throws com.irurueta.navigation.LockedException
  
  Sets initial scaling factors and cross coupling errors.
  
  Specified by:
  
  setInitialScalingFactorsAndCrossCouplingErrors in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialSx - initial x scaling factor.
  
  initialSy - initial y scaling factor.
  
  initialSz - initial z scaling factor.
  
  initialMxy - initial x-y cross coupling error.
  
  initialMxz - initial x-z cross coupling error.
  
  initialMyx - initial y-x cross coupling error.
  
  initialMyz - initial y-z cross coupling error.
  
  initialMzx - initial z-x cross coupling error.
  
  initialMzy - initial z-y cross coupling error.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInitialHardIron
  
  public double[] getInitialHardIron()
  
  Gets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).
  
  Specified by:
  
  getInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  array containing coordinates of initial bias.
- getInitialHardIron
  
  public void getInitialHardIron(double[] result)
  
  Gets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).
  
  Specified by:
  
  getInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result data will be copied to.
  
  Throws:
  
  IllegalArgumentException - if provided array does not have length 3.
- setInitialHardIron
  
  public void setInitialHardIron(double[] initialHardIron) throws com.irurueta.navigation.LockedException
  
  Sets initial hard-iron bias to be used to find a solution as an array. Array values are expressed in Teslas (T).
  
  Specified by:
  
  setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIron - initial hard-iron to find a solution.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
  
  IllegalArgumentException - if provided array does not have length 3.
- getInitialHardIronAsMatrix
  
  public com.irurueta.algebra.Matrix getInitialHardIronAsMatrix()
  
  Gets initial hard-iron bias to be used to find a solution as a column matrix. Values are expressed in Teslas (T).
  
  Specified by:
  
  getInitialHardIronAsMatrix in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Returns:
  
  initial hard-iron bias to be used to find a solution as a column matrix.
- getInitialHardIronAsMatrix
  
  public void getInitialHardIronAsMatrix(com.irurueta.algebra.Matrix result)
  
  Gets initial hard-iron bias to be used to find a solution as a column matrix. Values are expressed in Teslas (T).
  
  Specified by:
  
  getInitialHardIronAsMatrix in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result data will be copied to.
  
  Throws:
  
  IllegalArgumentException - if provided matrix is not 3x1.
- setInitialHardIron
  
  public void setInitialHardIron(com.irurueta.algebra.Matrix initialHardIron) throws com.irurueta.navigation.LockedException
  
  Sets initial hard-iron bias to be used to find a solution as a column matrix with values expressed in Teslas (T).
  
  Specified by:
  
  setInitialHardIron in interface UnknownHardIronNonLinearMagnetometerCalibrator
  
  Parameters:
  
  initialHardIron - initial hard-iron bias to find a solution.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
  
  IllegalArgumentException - if provided matrix is not 3x1.
- getInitialMm
  
  public com.irurueta.algebra.Matrix getInitialMm()
  
  Gets initial scale factors and cross coupling errors matrix.
  
  Specified by:
  
  getInitialMm in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  initial scale factors and cross coupling errors matrix.
- getInitialMm
  
  public void getInitialMm(com.irurueta.algebra.Matrix result)
  
  Gets initial scale factors and cross coupling errors matrix.
  
  Specified by:
  
  getInitialMm in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  result - instance where data will be stored.
  
  Throws:
  
  IllegalArgumentException - if provided matrix is not 3x3.
- setInitialMm
  
  public void setInitialMm(com.irurueta.algebra.Matrix initialMm) throws com.irurueta.navigation.LockedException
  
  Sets initial scale factors and cross coupling errors matrix.
  
  Specified by:
  
  setInitialMm in interface MagnetometerNonLinearCalibrator
  
  Parameters:
  
  initialMm - initial scale factors and cross coupling errors matrix.
  
  Throws:
  
  IllegalArgumentException - if provided matrix is not 3x3.
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getMeasurements
  
  public List<StandardDeviationFrameBodyMagneticFluxDensity> getMeasurements()
  
  Gets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
  
  Specified by:
  
  getMeasurements in interface OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator
  
  Returns:
  
  a collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).
- setMeasurements
  
  public void setMeasurements(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements) throws com.irurueta.navigation.LockedException
  
  Sets a list of body magnetic flux density measurements taken at different frames (positions, orientations and velocities). If a single device IMU needs to be calibrated, typically all measurements are taken at the same position, with zero velocity and multiple orientations. However, if we just want to calibrate the a given IMU model (e.g. obtain an average and less precise calibration for the IMU of a given phone model), we could take measurements collected throughout the planet at multiple positions while the phone remains static (e.g. while charging), hence each measurement position will change, velocity will remain zero and orientation will be typically constant at horizontal orientation while the phone remains on a flat surface.
  
  Specified by:
  
  setMeasurements in interface OrderedStandardDeviationFrameBodyMagneticFluxDensityMagnetometerCalibrator
  
  Parameters:
  
  measurements - collection of body magnetic flux density measurements taken at different frames (positions, orientations and velocities).
  
  Throws:
  
  com.irurueta.navigation.LockedException - if estimator is currently running.
- getMeasurementType
  
  public MagnetometerCalibratorMeasurementType getMeasurementType()
  
  Indicates the type of measurement used by this calibrator.
  
  Specified by:
  
  getMeasurementType in interface MagnetometerCalibrator
  
  Returns:
  
  type of measurement used by this calibrator.
- isOrderedMeasurementsRequired
  
  public boolean isOrderedMeasurementsRequired()
  
  Indicates whether this calibrator requires ordered measurements in a list or not.
  
  Specified by:
  
  isOrderedMeasurementsRequired in interface MagnetometerCalibrator
  
  Returns:
  
  true if measurements must be ordered, false otherwise.
- isCommonAxisUsed
  
  public boolean isCommonAxisUsed()
  
  Indicates whether z-axis is assumed to be common for accelerometer, gyroscope and magnetometer. When enabled, this eliminates 3 variables from Mm (soft-iron) matrix.
  
  Specified by:
  
  isCommonAxisUsed in interface MagnetometerCalibrator
  
  Returns:
  
  true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.
- setCommonAxisUsed
  
  public void setCommonAxisUsed(boolean commonAxisUsed) throws com.irurueta.navigation.LockedException
  
  Specifies whether z-axis is assumed to be common for accelerometer and gyroscope. When enabled, this eliminates 3 variables from Mm matrix.
  
  Specified by:
  
  setCommonAxisUsed in interface MagnetometerCalibrator
  
  Parameters:
  
  commonAxisUsed - true if z-axis is assumed to be common for accelerometer, gyroscope and magnetometer, false otherwise.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if estimator is currently running.
- getListener
  
  public RobustKnownFrameMagnetometerCalibratorListener getListener()
  
  Gets listener to handle events raised by this calibrator.
  
  Returns:
  
  listener to handle events raised by this calibrator.
- setListener
  
  public void setListener(RobustKnownFrameMagnetometerCalibratorListener listener) throws com.irurueta.navigation.LockedException
  
  Sets listener to handle events raised by this calibrator.
  
  Parameters:
  
  listener - listener to handle events raised by this calibrator.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getMinimumRequiredMeasurements
  
  public int getMinimumRequiredMeasurements()
  
  Gets minimum number of required measurements.
  
  Specified by:
  
  getMinimumRequiredMeasurements in interface MagnetometerCalibrator
  
  Returns:
  
  minimum number of required measurements.
- isReady
  
  public boolean isReady()
  
  Indicates whether calibrator is ready to start the estimator.
  
  Specified by:
  
  isReady in interface MagnetometerCalibrator
  
  Returns:
  
  true if calibrator is ready, false otherwise.
- isRunning
  
  public boolean isRunning()
  
  Indicates whether calibrator is currently running or no.
  
  Specified by:
  
  isRunning in interface MagnetometerCalibrator
  
  Returns:
  
  true if calibrator is running, false otherwise.
- getMagneticModel
  
  public WorldMagneticModel getMagneticModel()
  
  Gets Earth's magnetic model.
  
  Returns:
  
  Earth's magnetic model or null if not provided.
- setMagneticModel
  
  public void setMagneticModel(WorldMagneticModel magneticModel) throws com.irurueta.navigation.LockedException
  
  Sets Earth's magnetic model.
  
  Parameters:
  
  magneticModel - Earth's magnetic model to be set.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- isLinearCalibratorUsed
  
  public boolean isLinearCalibratorUsed()
  
  Indicates whether a linear calibrator is used or not for preliminary solutions.
  
  Returns:
  
  indicates whether a linear calibrator is used or not for preliminary solutions.
- setLinearCalibratorUsed
  
  public void setLinearCalibratorUsed(boolean linearCalibratorUsed) throws com.irurueta.navigation.LockedException
  
  Specifies whether a linear calibrator is used or not for preliminary solutions.
  
  Parameters:
  
  linearCalibratorUsed - indicates whether a linear calibrator is used or not for preliminary solutions.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- isPreliminarySolutionRefined
  
  public boolean isPreliminarySolutionRefined()
  
  Indicates whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.
  
  Returns:
  
  true if preliminary solutions must be refined after an initial linear solution, false otherwise.
- setPreliminarySolutionRefined
  
  public void setPreliminarySolutionRefined(boolean preliminarySolutionRefined) throws com.irurueta.navigation.LockedException
  
  Specifies whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non linear solver will be used regardless of this value using an average solution as the initial value to be refined.
  
  Parameters:
  
  preliminarySolutionRefined - true if preliminary solutions must be refined after an initial linear solution, false otherwise.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getProgressDelta
  
  public float getProgressDelta()
  
  Returns amount of progress variation before notifying a progress change during calibration.
  
  Returns:
  
  amount of progress variation before notifying a progress change during calibration.
- setProgressDelta
  
  public void setProgressDelta(float progressDelta) throws com.irurueta.navigation.LockedException
  
  Sets amount of progress variation before notifying a progress change during calibration.
  
  Parameters:
  
  progressDelta - amount of progress variation before notifying a progress change during calibration.
  
  Throws:
  
  IllegalArgumentException - if progress delta is less than zero or greater than 1.
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getConfidence
  
  public double getConfidence()
  
  Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
  
  Returns:
  
  amount of confidence as a value between 0.0 and 1.0.
- setConfidence
  
  public void setConfidence(double confidence) throws com.irurueta.navigation.LockedException
  
  Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
  
  Parameters:
  
  confidence - confidence to be set as a value between 0.0 and 1.0.
  
  Throws:
  
  IllegalArgumentException - if provided value is not between 0.0 and 1.0.
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getMaxIterations
  
  public int getMaxIterations()
  
  Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling calibrate(), a RobustEstimatorException will be raised.
  
  Returns:
  
  maximum allowed number of iterations.
- setMaxIterations
  
  public void setMaxIterations(int maxIterations) throws com.irurueta.navigation.LockedException
  
  Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
  
  Parameters:
  
  maxIterations - maximum allowed number of iterations to be set.
  
  Throws:
  
  IllegalArgumentException - if provided value is less than 1.
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getInliersData
  
  public com.irurueta.numerical.robust.InliersData getInliersData()
  
  Gets data related to inliers found after estimation.
  
  Returns:
  
  data related to inliers found after estimation.
- isResultRefined
  
  public boolean isResultRefined()
  
  Indicates whether result must be refined using a non-linear solver over found inliers.
  
  Returns:
  
  true to refine result, false to simply use result found by robust estimator without further refining.
- setResultRefined
  
  public void setResultRefined(boolean refineResult) throws com.irurueta.navigation.LockedException
  
  Specifies whether result must be refined using a non-linear solver over found inliers.
  
  Parameters:
  
  refineResult - true to refine result, false to simply use result found by robust estimator without further refining.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- isCovarianceKept
  
  public boolean isCovarianceKept()
  
  Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
  
  Returns:
  
  true if covariance must be kept after refining result, false otherwise.
- setCovarianceKept
  
  public void setCovarianceKept(boolean keepCovariance) throws com.irurueta.navigation.LockedException
  
  Specifies whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
  
  Parameters:
  
  keepCovariance - true if covariance must be kept after refining result, false otherwise.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getQualityScores
  
  public double[] getQualityScores()
  
  Returns quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.
  
  Specified by:
  
  getQualityScores in interface QualityScoredMagnetometerCalibrator
  
  Returns:
  
  quality scores corresponding to each sample.
- setQualityScores
  
  public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
  
  Sets quality scores corresponding to each measurement. The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.
  
  Specified by:
  
  setQualityScores in interface QualityScoredMagnetometerCalibrator
  
  Parameters:
  
  qualityScores - quality scores corresponding to each pair of matched points.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- getEstimatedHardIron
  
  public double[] getEstimatedHardIron()
  
  Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
  
  Specified by:
  
  getEstimatedHardIron in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  array containing x,y,z components of estimated magnetometer hard-iron biases.
- getEstimatedHardIron
  
  public boolean getEstimatedHardIron(double[] result)
  
  Gets array containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
  
  Specified by:
  
  getEstimatedHardIron in interface UnknownHardIronMagnetometerCalibrator
  
  Parameters:
  
  result - instance where estimated magnetometer biases will be stored.
  
  Returns:
  
  true if result instance was updated, false otherwise (when estimation is not yet available).
- getEstimatedHardIronAsMatrix
  
  public com.irurueta.algebra.Matrix getEstimatedHardIronAsMatrix()
  
  Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
  
  Specified by:
  
  getEstimatedHardIronAsMatrix in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  column matrix containing x,y,z components of estimated magnetometer hard-iron biases.
- getEstimatedHardIronAsMatrix
  
  public boolean getEstimatedHardIronAsMatrix(com.irurueta.algebra.Matrix result) throws com.irurueta.algebra.WrongSizeException
  
  Gets column matrix containing x,y,z components of estimated magnetometer hard-iron biases expressed in Teslas (T).
  
  Specified by:
  
  getEstimatedHardIronAsMatrix in interface UnknownHardIronMagnetometerCalibrator
  
  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.
- getEstimatedHardIronX
  
  public Double getEstimatedHardIronX()
  
  Gets x coordinate of estimated magnetometer bias expressed in Teslas (T).
  
  Specified by:
  
  getEstimatedHardIronX in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  x coordinate of estimated magnetometer bias or null if not available.
- getEstimatedHardIronY
  
  public Double getEstimatedHardIronY()
  
  Gets y coordinate of estimated magnetometer bias expressed in Teslas (T).
  
  Specified by:
  
  getEstimatedHardIronY in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  y coordinate of estimated magnetometer bias or null if not available.
- getEstimatedHardIronZ
  
  public Double getEstimatedHardIronZ()
  
  Gets z coordinate of estimated magnetometer bias expressed in Teslas (T).
  
  Specified by:
  
  getEstimatedHardIronZ in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  z coordinate of estimated magnetometer bias or null if not available.
- getEstimatedHardIronXAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronXAsMagneticFluxDensity()
  
  Gets x coordinate of estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronXAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  x coordinate of estimated magnetometer bias.
- getEstimatedHardIronXAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronXAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets x coordinate of estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronXAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if estimated magnetometer bias is available, false otherwise.
- getEstimatedHardIronYAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronYAsMagneticFluxDensity()
  
  Gets y coordinate of estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronYAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  y coordinate of estimated magnetometer bias.
- getEstimatedHardIronYAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronYAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets y coordinate of estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronYAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if estimated magnetometer bias is available, false otherwise.
- getEstimatedHardIronZAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronZAsMagneticFluxDensity()
  
  Gets z coordinate of estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronZAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  z coordinate of estimated magnetometer bias.
- getEstimatedHardIronZAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronZAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets z coordinate of estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronZAsMagneticFluxDensity in interface UnknownHardIronMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if estimated magnetometer bias is available, false otherwise.
- getEstimatedHardIronAsTriad
  
  public MagneticFluxDensityTriad getEstimatedHardIronAsTriad()
  
  Gets estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronAsTriad in interface UnknownHardIronMagnetometerCalibrator
  
  Returns:
  
  estimated magnetometer bias or null if not available.
- getEstimatedHardIronAsTriad
  
  public boolean getEstimatedHardIronAsTriad(MagneticFluxDensityTriad result)
  
  Gets estimated magnetometer bias.
  
  Specified by:
  
  getEstimatedHardIronAsTriad in interface UnknownHardIronMagnetometerCalibrator
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if estimated magnetometer bias is available and result was modified, false otherwise.
- getEstimatedMm
  
  public com.irurueta.algebra.Matrix getEstimatedMm()
  Gets estimated magnetometer soft-iron matrix containing scale factors and cross coupling errors. This is the product of matrix Tm containing cross coupling errors and Km containing scaling factors. So tat:
  Mm = [sx mxy mxz] = Tm*Km [myx sy myz] [mzx mzy sz ]
  Where:
  Km = [sx 0 0 ] [0 sy 0 ] [0 0 sz]
  and
  Tm = [1 -alphaXy alphaXz ] [alphaYx 1 -alphaYz] [-alphaZx alphaZy 1 ]
  Hence:
  Mm = [sx mxy mxz] = Tm*Km = [sx -sy * alphaXy sz * alphaXz ] [myx sy myz] [sx * alphaYx sy -sz * alphaYz] [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
  This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy are considered to be zero if the accelerometer z-axis is assumed to be the same as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mm matrix becomes upper diagonal:
  Mm = [sx mxy mxz] [0 sy myz] [0 0 sz ]
  Values of this matrix are unit-less.
  Specified by:
  
  getEstimatedMm in interface MagnetometerCalibrator
  
  Returns:
  
  estimated magnetometer soft-iron scale factors and cross coupling errors, or null if not available.
- getEstimatedSx
  
  public Double getEstimatedSx()
  
  Gets estimated x-axis scale factor.
  
  Specified by:
  
  getEstimatedSx in interface MagnetometerCalibrator
  
  Returns:
  
  estimated x-axis scale factor or null if not available.
- getEstimatedSy
  
  public Double getEstimatedSy()
  
  Gets estimated y-axis scale factor.
  
  Specified by:
  
  getEstimatedSy in interface MagnetometerCalibrator
  
  Returns:
  
  estimated y-axis scale factor or null if not available.
- getEstimatedSz
  
  public Double getEstimatedSz()
  
  Gets estimated z-axis scale factor.
  
  Specified by:
  
  getEstimatedSz in interface MagnetometerCalibrator
  
  Returns:
  
  estimated z-axis scale factor or null if not available.
- getEstimatedMxy
  
  public Double getEstimatedMxy()
  
  Gets estimated x-y cross-coupling error.
  
  Specified by:
  
  getEstimatedMxy in interface MagnetometerCalibrator
  
  Returns:
  
  estimated x-y cross-coupling error or null if not available.
- getEstimatedMxz
  
  public Double getEstimatedMxz()
  
  Gets estimated x-z cross-coupling error.
  
  Specified by:
  
  getEstimatedMxz in interface MagnetometerCalibrator
  
  Returns:
  
  estimated x-z cross-coupling error or null if not available.
- getEstimatedMyx
  
  public Double getEstimatedMyx()
  
  Gets estimated y-x cross-coupling error.
  
  Specified by:
  
  getEstimatedMyx in interface MagnetometerCalibrator
  
  Returns:
  
  estimated y-x cross-coupling error or null if not available.
- getEstimatedMyz
  
  public Double getEstimatedMyz()
  
  Gets estimated y-z cross-coupling error.
  
  Specified by:
  
  getEstimatedMyz in interface MagnetometerCalibrator
  
  Returns:
  
  estimated y-z cross-coupling error or null if not available.
- getEstimatedMzx
  
  public Double getEstimatedMzx()
  
  Gets estimated z-x cross-coupling error.
  
  Specified by:
  
  getEstimatedMzx in interface MagnetometerCalibrator
  
  Returns:
  
  estimated z-x cross-coupling error or null if not available.
- getEstimatedMzy
  
  public Double getEstimatedMzy()
  
  Gets estimated z-y cross-coupling error.
  
  Specified by:
  
  getEstimatedMzy in interface MagnetometerCalibrator
  
  Returns:
  
  estimated z-y cross-coupling error or null if not available.
- getEstimatedChiSq
  
  public double getEstimatedChiSq()
  
  Gets estimated chi square value.
  
  Specified by:
  
  getEstimatedChiSq in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  estimated chi square value.
- getEstimatedChiSqDegreesOfFreedom
  
  public int getEstimatedChiSqDegreesOfFreedom()
  
  Gets estimated chi square degrees of freedom. Degrees of freedom is equal to the number of sampled data minus the number of estimated parameters.
  
  Specified by:
  
  getEstimatedChiSqDegreesOfFreedom in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  estimated degrees of freedom of chi square value
- getEstimatedReducedChiSq
  
  public double getEstimatedReducedChiSq()
  
  Gets estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of freedom. Ideally this value should be close to 1.0, indicating that fit is optimal. A value larger than 1.0 indicates that fit is not good or noise has been underestimated, and a value smaller than 1.0 indicates that there is overfitting or noise has been overestimated.
  
  Specified by:
  
  getEstimatedReducedChiSq in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  estimated reduced chi square value
- getEstimatedMse
  
  public double getEstimatedMse()
  
  Gets estimated mean square error respect to provided measurements.
  
  Specified by:
  
  getEstimatedMse in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  estimated mean square error respect to provided measurements.
- getEstimatedP
  
  public double getEstimatedP()
  
  Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.
  
  Specified by:
  
  getEstimatedP in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  estimated probability of finding a smaller chi square value.
- getEstimatedQ
  
  public double getEstimatedQ()
  
  Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is, the better the fit that has been estimated.
  
  Specified by:
  
  getEstimatedQ in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  estimated measure of quality of estimated fit.
- getEstimatedCovariance
  
  public com.irurueta.algebra.Matrix getEstimatedCovariance()
  
  Gets estimated covariance matrix for estimated calibration parameters. Diagonal elements of the matrix contains variance for the following parameters (following indicated order): bx, by, bz, sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy.
  
  Specified by:
  
  getEstimatedCovariance in interface MagnetometerNonLinearCalibrator
  
  Returns:
  
  estimated covariance matrix for estimated calibration parameters.
- getEstimatedHardIronXVariance
  
  public Double getEstimatedHardIronXVariance()
  
  Gets variance of estimated x coordinate of magnetometer bias expressed in squared Teslas (T^2).
  
  Returns:
  
  variance of estimated x coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronXStandardDeviation
  
  public Double getEstimatedHardIronXStandardDeviation()
  
  Gets standard deviation of estimated x coordinate of magnetometer bias expressed in Teslas (T).
  
  Returns:
  
  standard deviation of estimated x coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity()
  
  Gets standard deviation of estimated x coordinate of magnetometer bias.
  
  Returns:
  
  standard deviation of estimated x coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronXStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets standard deviation of estimated x coordinate of magnetometer bias.
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if standard deviation of estimated x coordinate of magnetometer bias is available, false otherwise.
- getEstimatedHardIronYVariance
  
  public Double getEstimatedHardIronYVariance()
  
  Gets variance of estimated y coordinate of magnetometer bias expressed in squared Teslas (T^2).
  
  Returns:
  
  variance of estimated y coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronYStandardDeviation
  
  public Double getEstimatedHardIronYStandardDeviation()
  
  Gets standard deviation of estimated y coordinate of magnetometer bias expressed in Teslas (T).
  
  Returns:
  
  standard deviation of estimated y coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity()
  
  Gets standard deviation of estimated y coordinate of magnetometer bias.
  
  Returns:
  
  standard deviation of estimated y coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronYStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets standard deviation of estimated y coordinate of magnetometer bias.
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if standard deviation of estimated y coordinate of magnetometer bias is available, false otherwise.
- getEstimatedHardIronZVariance
  
  public Double getEstimatedHardIronZVariance()
  
  Gets variance of estimated z coordinate of magnetometer bias expressed in squared Teslas (T^2).
  
  Returns:
  
  variance of estimated z coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronZStandardDeviation
  
  public Double getEstimatedHardIronZStandardDeviation()
  
  Gets standard deviation of estimated z coordinate of magnetometer bias expressed in Teslas (T).
  
  Returns:
  
  standard deviation of estimated z coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity()
  
  Gets standard deviation of estimated z coordinate of magnetometer bias.
  
  Returns:
  
  standard deviation of estimated z coordinate of magnetometer bias or null if not available.
- getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronZStandardDeviationAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets standard deviation of estimated z coordinate of magnetometer bias.
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if standard deviation of estimated z coordinate of magnetometer bias is available, false otherwise.
- getEstimatedHardIronStandardDeviation
  
  public MagneticFluxDensityTriad getEstimatedHardIronStandardDeviation()
  
  Gets standard deviation of estimated magnetometer bias coordinates.
  
  Returns:
  
  standard deviation of estimated magnetometer bias coordinates.
- getEstimatedHardIronStandardDeviation
  
  public boolean getEstimatedHardIronStandardDeviation(MagneticFluxDensityTriad result)
  
  Gets standard deviation of estimated magnetometer bias coordinates.
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if standard deviation of magnetometer bias was available, false otherwise.
- getEstimatedHardIronStandardDeviationAverage
  
  public Double getEstimatedHardIronStandardDeviationAverage()
  
  Gets average of estimated standard deviation of magnetometer bias coordinates expressed in Teslas (T).
  
  Returns:
  
  average of estimated standard deviation of magnetometer bias coordinates, or null if not available.
- getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity()
  
  Gets average of estimated standard deviation of magnetometer bias coordinates.
  
  Returns:
  
  average of estimated standard deviation of magnetometer bias coordinates, or null if not available.
- getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronStandardDeviationAverageAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets average of estimated standard deviation of magnetometer bias coordinates.
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if average of estimated standard deviation of magnetometer bias is available, false otherwise.
- getEstimatedHardIronStandardDeviationNorm
  
  public Double getEstimatedHardIronStandardDeviationNorm()
  
  Gets norm of estimated standard deviation of magnetometer bias expressed in Teslas (T).
  
  Returns:
  
  norm of estimated standard deviation of magnetometer bias or null if not available.
- getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity
  
  public com.irurueta.units.MagneticFluxDensity getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity()
  
  Gets norm of estimated standard deviation of magnetometer bias.
  
  Returns:
  
  norm of estimated standard deviation of magnetometer bias or null if not available.
- getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity
  
  public boolean getEstimatedHardIronStandardDeviationNormAsMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity result)
  
  Gets norm of estimated standard deviation of magnetometer bias.
  
  Parameters:
  
  result - instance where result will be stored.
  
  Returns:
  
  true if norm of estimated standard deviation of magnetometer bias is available, false otherwise.
- getPreliminarySubsetSize
  
  public int getPreliminarySubsetSize()
  
  Gets size of subsets to be checked during robust estimation. This has to be at least MINIMUM_MEASUREMENTS.
  
  Returns:
  
  size of subsets to be checked during robust estimation.
- setPreliminarySubsetSize
  
  public void setPreliminarySubsetSize(int preliminarySubsetSize) throws com.irurueta.navigation.LockedException
  
  Sets size of subsets to be checked during robust estimation. This has to be at least MINIMUM_MEASUREMENTS.
  
  Parameters:
  
  preliminarySubsetSize - size of subsets to be checked during robust estimation.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
  
  IllegalArgumentException - if provided value is less than MINIMUM_MEASUREMENTS.
- getMethod
  
  public abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
  
  Returns method being used for robust estimation.
  
  Returns:
  
  method being used for robust estimation.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(double[] qualityScores, List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust known frame magnetometer calibrator.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
  
  method - robust estimator method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create()
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements)
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed)
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed)
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- create
  
  public static RobustKnownFrameMagnetometerCalibrator create(List<StandardDeviationFrameBodyMagneticFluxDensity> measurements, boolean commonAxisUsed, RobustKnownFrameMagnetometerCalibratorListener listener)
  
  Creates a robust known frame magnetometer calibrator using default robust method.
  
  Parameters:
  
  measurements - list of body magnetic flux density measurements with standard deviations taken at different frames (positions and orientations).
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for the accelerometer, gyroscope and magnetometer.
  
  listener - listener to handle events raised by this calibrator.
  
  Returns:
  
  a robust known frame magnetometer calibrator.
- setupWmmEstimator
  
  protected void setupWmmEstimator() throws IOException
  
  Setups World Magnetic Model estimator.
  
  Throws:
  
  IOException - if model cannot be loaded.
- computeError
  
  protected double computeError(StandardDeviationFrameBodyMagneticFluxDensity measurement, RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)
  
  Computes error of a preliminary result respect a given measurement.
  
  Parameters:
  
  measurement - a measurement.
  
  preliminaryResult - a preliminary result.
  
  Returns:
  
  computed error.
- computePreliminarySolutions
  
  protected void computePreliminarySolutions(int[] samplesIndices, List<RobustKnownFrameMagnetometerCalibrator.PreliminaryResult> solutions)
  
  Computes a preliminary solution for a subset of samples picked by a robust estimator.
  
  Parameters:
  
  samplesIndices - indices of samples picked by the robust estimator.
  
  solutions - list where estimated preliminary solution will be stored.
- attemptRefine
  
  protected void attemptRefine(RobustKnownFrameMagnetometerCalibrator.PreliminaryResult preliminaryResult)
  
  Attempts to refine calibration parameters if refinement is requested. This method returns a refined solution or provided input if refinement is not requested or has failed. If refinement is enabled and it is requested to keep covariance, this method will also keep covariance of refined position.
  
  Parameters:
  
  preliminaryResult - a preliminary result.
- convertMagneticFluxDensity
  
  private static double convertMagneticFluxDensity(double value, com.irurueta.units.MagneticFluxDensityUnit unit)
  
  Converts magnetic flux density value and unit to Teslas.
  
  Parameters:
  
  value - magnetic flux density value.
  
  unit - unit of magnetic flux density value.
  
  Returns:
  
  converted value.
- convertMagneticFluxDensity
  
  private static double convertMagneticFluxDensity(com.irurueta.units.MagneticFluxDensity magneticFluxDensity)
  
  Converts magnetic flux density instance to Teslas.
  
  Parameters:
  
  magneticFluxDensity - magnetic flux density instance to be converted.
  
  Returns:
  
  converted value.

Class RobustKnownFrameMagnetometerCalibrator

Nested Class Summary

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Methods inherited from interface com.irurueta.navigation.inertial.calibration.magnetometer.MagnetometerCalibrator

Field Details

DEFAULT_USE_COMMON_Z_AXIS

MINIMUM_MEASUREMENTS

DEFAULT_USE_LINEAR_CALIBRATOR

DEFAULT_REFINE_PRELIMINARY_SOLUTIONS

DEFAULT_ROBUST_METHOD

DEFAULT_REFINE_RESULT

DEFAULT_KEEP_COVARIANCE

DEFAULT_PROGRESS_DELTA

MIN_PROGRESS_DELTA

MAX_PROGRESS_DELTA

DEFAULT_CONFIDENCE

DEFAULT_MAX_ITERATIONS

MIN_CONFIDENCE

MAX_CONFIDENCE

MIN_ITERATIONS

measurements

listener

running

progressDelta

confidence

maxIterations

inliersData

refineResult

preliminarySubsetSize

commonAxisUsed

initialHardIronX

initialHardIronY

initialHardIronZ

initialSx

initialSy

initialSz

initialMxy

initialMxz

initialMyx

initialMyz

initialMzx

initialMzy

useLinearCalibrator

refinePreliminarySolutions

estimatedHardIron

estimatedMm

keepCovariance

estimatedCovariance

estimatedChiSq

estimatedChiSqDegreesOfFreedom

estimatedReducedChiSq

estimatedMse

estimatedP

estimatedQ

magneticModel

linearCalibrator

nonLinearCalibrator

wmmEstimator

Constructor Details

RobustKnownFrameMagnetometerCalibrator

RobustKnownFrameMagnetometerCalibrator

RobustKnownFrameMagnetometerCalibrator

RobustKnownFrameMagnetometerCalibrator

RobustKnownFrameMagnetometerCalibrator

RobustKnownFrameMagnetometerCalibrator

RobustKnownFrameMagnetometerCalibrator

RobustKnownFrameMagnetometerCalibrator

Method Details

getInitialHardIronX

setInitialHardIronX

getInitialHardIronY

setInitialHardIronY

getInitialHardIronZ

setInitialHardIronZ

getInitialHardIronXAsMagneticFluxDensity

getInitialHardIronXAsMagneticFluxDensity

setInitialHardIronX