KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator.java
/*
* Copyright (C) 2020 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.inertial.calibration.accelerometer;
import com.irurueta.algebra.AlgebraException;
import com.irurueta.algebra.Matrix;
import com.irurueta.algebra.WrongSizeException;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.NotReadyException;
import com.irurueta.navigation.inertial.BodyKinematics;
import com.irurueta.navigation.inertial.calibration.AccelerationTriad;
import com.irurueta.navigation.inertial.calibration.CalibrationException;
import com.irurueta.navigation.inertial.calibration.StandardDeviationFrameBodyKinematics;
import com.irurueta.navigation.inertial.estimators.ECEFKinematicsEstimator;
import com.irurueta.numerical.fitting.FittingException;
import com.irurueta.numerical.fitting.LevenbergMarquardtMultiVariateFitter;
import com.irurueta.numerical.fitting.LevenbergMarquardtMultiVariateFunctionEvaluator;
import com.irurueta.statistics.MaxIterationsExceededException;
import com.irurueta.units.Acceleration;
import com.irurueta.units.AccelerationConverter;
import com.irurueta.units.AccelerationUnit;
import java.util.Collection;
/**
* Estimates accelerometer cross couplings and scaling factors.
* This estimator assumes that biases are known.
* <p>
* This calibrator uses an iterative approach to find a minimum least squared error
* solution.
* <p>
* To use this calibrator it is assumed that body position and orientation is known and
* that body remains static on the same position while being calibrated.
* <p>
* Measured specific force is assumed to follow the model shown below:
* <pre>
* fmeas = ba + (I + Ma) * ftrue + w
* </pre>
* Where:
* - fmeas is the measured specific force. This is a 3x1 vector.
* - ba is accelerometer bias. This is a known 3x1 vector.
* - I is the 3x3 identity matrix.
* - Ma is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on
* a perfect accelerometer, this should be a 3x3 zero matrix.
* - ftrue is ground-trush specific force.
* - w is measurement noise.
*/
public class KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator implements
KnownBiasAndFrameAccelerometerCalibrator<StandardDeviationFrameBodyKinematics,
KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener>,
AccelerometerNonLinearCalibrator,
UnorderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator {
/**
* Indicates whether by default a common z-axis is assumed for both the accelerometer
* and gyroscope.
*/
public static final boolean DEFAULT_USE_COMMON_Z_AXIS = false;
/**
* Required minimum number of measurements.
*/
public static final int MINIMUM_MEASUREMENTS = 3;
/**
* Number of unknowns when common z-axis is assumed for both the accelerometer
* and gyroscope.
*/
private static final int COMMON_Z_AXIS_UNKNOWNS = 6;
/**
* Number of unknowns for the general case.
*/
private static final int GENERAL_UNKNOWNS = 9;
/**
* Levenberg-Marquardt fitter to find a non-linear solution.
*/
private final LevenbergMarquardtMultiVariateFitter fitter = new LevenbergMarquardtMultiVariateFitter();
/**
* Known x coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*/
private double biasX;
/**
* Known y coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*/
private double biasY;
/**
* Known z coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*/
private double biasZ;
/**
* Initial x scaling factor.
*/
private double initialSx;
/**
* Initial y scaling factor.
*/
private double initialSy;
/**
* Initial z scaling factor.
*/
private double initialSz;
/**
* Initial x-y cross coupling error.
*/
private double initialMxy;
/**
* Initial x-z cross coupling error.
*/
private double initialMxz;
/**
* Initial y-x cross coupling error.
*/
private double initialMyx;
/**
* Initial y-z cross coupling error.
*/
private double initialMyz;
/**
* Initial z-x cross coupling error.
*/
private double initialMzx;
/**
* Initial z-y cross coupling error.
*/
private double initialMzy;
/**
* Contains a collections of body kinematics measurements taken at different
* frames (positions, orientations and velocities) and containing the standard
* deviations of accelerometer and gyroscope measurements.
* 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.
*/
private Collection<StandardDeviationFrameBodyKinematics> measurements;
/**
* This flag indicates whether z-axis is assumed to be common for accelerometer
* and gyroscope.
* When enabled, this eliminates 3 variables from Ma matrix.
*/
private boolean commonAxisUsed = DEFAULT_USE_COMMON_Z_AXIS;
/**
* Listener to handle events raised by this estimator.
*/
private KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener;
/**
* Estimated accelerometer scale factors and cross coupling errors.
* This is the product of matrix Ta containing cross coupling errors and Ka
* containing scaling factors.
* So tat:
* <pre>
* Ma = [sx mxy mxz] = Ta*Ka
* [myx sy myz]
* [mzx mzy sz ]
* </pre>
* Where:
* <pre>
* Ka = [sx 0 0 ]
* [0 sy 0 ]
* [0 0 sz]
* </pre>
* and
* <pre>
* Ta = [1 -alphaXy alphaXz ]
* [alphaYx 1 -alphaYz]
* [-alphaZx alphaZy 1 ]
* </pre>
* Hence:
* <pre>
* Ma = [sx mxy mxz] = Ta*Ka = [sx -sy * alphaXy sz * alphaXz ]
* [myx sy myz] [sx * alphaYx sy -sz * alphaYz]
* [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
* </pre>
* 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 Ma matrix
* becomes upper diagonal:
* <pre>
* Ma = [sx mxy mxz]
* [0 sy myz]
* [0 0 sz ]
* </pre>
* Values of this matrix are unit-less.
*/
private Matrix estimatedMa;
/**
* Estimated covariance matrix for estimated position.
*/
private Matrix estimatedCovariance;
/**
* Estimated chi square value.
*/
private double estimatedChiSq;
/**
* 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.
*/
private int estimatedChiSqDegreesOfFreedom;
/**
* 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.
*/
private double estimatedReducedChiSq;
/**
* Estimated mean square error respect to provided measurements.
*/
private double estimatedMse;
/**
* 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.
*/
private double estimatedP;
/**
* 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.
*/
private double estimatedQ;
/**
* Indicates whether estimator is running.
*/
private boolean running;
/**
* Constructor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator() {
}
/**
* Constructor.
*
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements) {
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements);
this.listener = listener;
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(final boolean commonAxisUsed) {
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final boolean commonAxisUsed) {
this(measurements);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ) {
try {
setBiasCoordinates(biasX, biasY, biasZ);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias expressed in meters
* per squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters
* per squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters
* per squared second (m/s^2).
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ) {
this(biasX, biasY, biasZ);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias expressed in meters
* per squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters
* per squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters
* per squared second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed) {
this(biasX, biasY, biasZ);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed) {
this(measurements, biasX, biasY, biasZ);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in
* meters per squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ) {
try {
setBiasCoordinates(biasX, biasY, biasZ);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ) {
this(biasX, biasY, biasZ);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final boolean commonAxisUsed) {
this(biasX, biasY, biasZ);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final boolean commonAxisUsed) {
this(measurements, biasX, biasY, biasZ);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(biasX, biasY, biasZ);
try {
setInitialScalingFactors(initialSx, initialSy, initialSz);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.listener = listener;
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final boolean commonAxisUsed, final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final boolean commonAxisUsed, final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(commonAxisUsed, biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final boolean commonAxisUsed, final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(commonAxisUsed, biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final boolean commonAxisUsed, final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, commonAxisUsed, biasX, biasY, biasZ,
initialSx, initialSy, initialSz);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(biasX, biasY, biasZ);
try {
setInitialScalingFactors(initialSx, initialSy, initialSz);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final boolean commonAxisUsed, final double initialSx, final double initialSy, final double initialSz) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final boolean commonAxisUsed, final double initialSx, final double initialSy, final double initialSz) {
this(biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final boolean commonAxisUsed, final double initialSx, final double initialSy, final double initialSz,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) {
this(biasX, biasY, biasZ);
try {
setInitialScalingFactorsAndCrossCouplingErrors(initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ,
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
final double initialSx, final double initialSy, final double initialSz, final double initialMxy,
final double initialMxz, final double initialMyx, final double initialMyz, final double initialMzx,
final double initialMzy,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
final double initialSx, final double initialSy, final double initialSz, final double initialMxy,
final double initialMxz, final double initialMyx, final double initialMyz, final double initialMzx,
final double initialMzy) {
this(biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasY known y coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param biasZ known z coordinate of accelerometer bias expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
final double initialSx, final double initialSy, final double initialSz, final double initialMxy,
final double initialMxz, final double initialMyx, final double initialMyz, final double initialMzx,
final double initialMzy,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz, initialMxy,
initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz, final double initialMxy,
final double initialMxz, final double initialMyx, final double initialMyz, final double initialMzx,
final double initialMzy) {
this(biasX, biasY, biasZ);
try {
setInitialScalingFactorsAndCrossCouplingErrors(initialSx, initialSy, initialSz, initialMxy, initialMxz,
initialMyx, initialMyz, initialMzx, initialMzy);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.listener = listener;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final boolean commonAxisUsed, final double initialSx, final double initialSy,
final double initialSz, final double initialMxy, final double initialMxz,
final double initialMyx, final double initialMyz, final double initialMzx, final double initialMzy) {
this(biasX, biasY, biasZ, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ, final boolean commonAxisUsed,
final double initialSx, final double initialSy, final double initialSz, final double initialMxy,
final double initialMxz, final double initialMyx, final double initialMyz, final double initialMzx,
final double initialMzy,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ, final boolean commonAxisUsed,
final double initialSx, final double initialSy, final double initialSz, final double initialMxy,
final double initialMxz, final double initialMyx, final double initialMyz, final double initialMzx,
final double initialMzy) {
this(biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ,
final boolean commonAxisUsed, final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx, final double initialMyz,
final double initialMzx, final double initialMzy,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, biasX, biasY, biasZ, commonAxisUsed, initialSx, initialSy, initialSz, initialMxy,
initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
this.listener = listener;
}
/**
* Constructor.
*
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(final double[] bias) {
try {
setBias(bias);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double[] bias,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(bias);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final double[] bias) {
this(bias);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final double[] bias,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, bias);
this.listener = listener;
}
/**
* Constructor.
*
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double[] bias, final boolean commonAxisUsed) {
this(bias);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final double[] bias, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(bias, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final double[] bias,
final boolean commonAxisUsed) {
this(bias, commonAxisUsed);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must have length 3 and is expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias array does not have length 3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final double[] bias, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, bias, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(final Matrix bias) {
try {
setBias(bias);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Matrix bias, final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(bias);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias) {
this(bias);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, bias);
this.listener = listener;
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Matrix bias, final boolean commonAxisUsed) {
this(bias);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Matrix bias, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(bias, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
final boolean commonAxisUsed) {
this(bias, commonAxisUsed);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements,
final Matrix bias, final boolean commonAxisUsed,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, bias, commonAxisUsed);
this.listener = listener;
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param initialMa initial scale factors and cross coupling errors matrix.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Matrix bias, final Matrix initialMa) {
this(bias);
try {
setInitialMa(initialMa);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param initialMa initial scale factors and cross coupling errors matrix.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Matrix bias, final Matrix initialMa,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(bias, initialMa);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param initialMa initial scale factors and cross coupling errors matrix.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
final Matrix initialMa) {
this(bias, initialMa);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param initialMa initial scale factors and cross coupling errors matrix.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
final Matrix initialMa,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, bias, initialMa);
this.listener = listener;
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialMa initial scale factors and cross coupling errors matrix.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Matrix bias, final boolean commonAxisUsed, final Matrix initialMa) {
this(bias, initialMa);
this.commonAxisUsed = commonAxisUsed;
}
/**
* Constructor.
*
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialMa initial scale factors and cross coupling errors matrix.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Matrix bias, final boolean commonAxisUsed, final Matrix initialMa,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(bias, commonAxisUsed, initialMa);
this.listener = listener;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialMa initial scale factors and cross coupling errors matrix.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
final boolean commonAxisUsed, final Matrix initialMa) {
this(bias, commonAxisUsed, initialMa);
this.measurements = measurements;
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at different frames (positions, orientations
* and velocities).
* @param bias known bias. This must be a 3x1 matrix expressed in meters per
* squared second (m/s^2).
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialMa initial scale factors and cross coupling errors matrix.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if either provided bias matrix is not 3x1 or
* scaling and coupling error matrix is not 3x3.
*/
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibrator(
final Collection<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
final boolean commonAxisUsed, final Matrix initialMa,
final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener) {
this(measurements, bias, commonAxisUsed, initialMa);
this.listener = listener;
}
/**
* Gets known x coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*
* @return known x coordinate of accelerometer bias.
*/
@Override
public double getBiasX() {
return biasX;
}
/**
* Sets known x coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*
* @param biasX known x coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasX(final double biasX) throws LockedException {
if (running) {
throw new LockedException();
}
this.biasX = biasX;
}
/**
* Gets known y coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*
* @return known y coordinate of accelerometer bias.
*/
@Override
public double getBiasY() {
return biasY;
}
/**
* Sets known y coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*
* @param biasY known y coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasY(final double biasY) throws LockedException {
if (running) {
throw new LockedException();
}
this.biasY = biasY;
}
/**
* Gets known z coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*
* @return known z coordinate of accelerometer bias.
*/
@Override
public double getBiasZ() {
return biasZ;
}
/**
* Sets known z coordinate of accelerometer bias expressed in meters per squared
* second (m/s^2).
*
* @param biasZ known z coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasZ(final double biasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.biasZ = biasZ;
}
/**
* Gets known x coordinate of accelerometer bias.
*
* @return known x coordinate of accelerometer bias.
*/
@Override
public Acceleration getBiasXAsAcceleration() {
return new Acceleration(biasX, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Gets known x coordinate of accelerometer bias.
*
* @param result instance where result data will be stored.
*/
@Override
public void getBiasXAsAcceleration(final Acceleration result) {
result.setValue(biasX);
result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Sets known x coordinate of accelerometer bias.
*
* @param biasX known x coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasX(final Acceleration biasX) throws LockedException {
if (running) {
throw new LockedException();
}
this.biasX = convertAcceleration(biasX);
}
/**
* Gets known y coordinate of accelerometer bias.
*
* @return known y coordinate of accelerometer bias.
*/
@Override
public Acceleration getBiasYAsAcceleration() {
return new Acceleration(biasY, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Gets known y coordinate of accelerometer bias.
*
* @param result instance where result data will be stored.
*/
@Override
public void getBiasYAsAcceleration(final Acceleration result) {
result.setValue(biasY);
result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Sets known y coordinate of accelerometer bias.
*
* @param biasY known y coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasY(final Acceleration biasY) throws LockedException {
if (running) {
throw new LockedException();
}
this.biasY = convertAcceleration(biasY);
}
/**
* Gets known z coordinate of accelerometer bias.
*
* @return known z coordinate of accelerometer bias.
*/
@Override
public Acceleration getBiasZAsAcceleration() {
return new Acceleration(biasZ, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Gets known z coordinate of accelerometer bias.
*
* @param result instance where result data will be stored.
*/
@Override
public void getBiasZAsAcceleration(final Acceleration result) {
result.setValue(biasZ);
result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Sets known z coordinate of accelerometer bias.
*
* @param biasZ known z coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasZ(final Acceleration biasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.biasZ = convertAcceleration(biasZ);
}
/**
* Sets known accelerometer bias coordinates expressed in meters per squared
* second (m/s^2).
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasCoordinates(final double biasX, final double biasY, final double biasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.biasX = biasX;
this.biasY = biasY;
this.biasZ = biasZ;
}
/**
* Sets known accelerometer bias coordinates.
*
* @param biasX known x coordinate of accelerometer bias.
* @param biasY known y coordinate of accelerometer bias.
* @param biasZ known z coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBiasCoordinates(final Acceleration biasX, final Acceleration biasY, final Acceleration biasZ)
throws LockedException {
if (running) {
throw new LockedException();
}
this.biasX = convertAcceleration(biasX);
this.biasY = convertAcceleration(biasY);
this.biasZ = convertAcceleration(biasZ);
}
/**
* Gets known accelerometer bias.
*
* @return known accelerometer bias.
*/
@Override
public AccelerationTriad getBiasAsTriad() {
return new AccelerationTriad(AccelerationUnit.METERS_PER_SQUARED_SECOND, biasX, biasY, biasZ);
}
/**
* Gets known accelerometer bias.
*
* @param result instance where result will be stored.
*/
@Override
public void getBiasAsTriad(final AccelerationTriad result) {
result.setValueCoordinatesAndUnit(biasX, biasY, biasZ, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Sets known accelerometer bias.
*
* @param bias accelerometer bias to be set.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setBias(final AccelerationTriad bias) throws LockedException {
if (running) {
throw new LockedException();
}
biasX = convertAcceleration(bias.getValueX(), bias.getUnit());
biasY = convertAcceleration(bias.getValueY(), bias.getUnit());
biasZ = convertAcceleration(bias.getValueZ(), bias.getUnit());
}
/**
* Gets initial x scaling factor.
*
* @return initial x scaling factor.
*/
@Override
public double getInitialSx() {
return initialSx;
}
/**
* Sets initial x scaling factor.
*
* @param initialSx initial x scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialSx(final double initialSx) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSx = initialSx;
}
/**
* Gets initial y scaling factor.
*
* @return initial y scaling factor.
*/
@Override
public double getInitialSy() {
return initialSy;
}
/**
* Sets initial y scaling factor.
*
* @param initialSy initial y scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialSy(final double initialSy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSy = initialSy;
}
/**
* Gets initial z scaling factor.
*
* @return initial z scaling factor.
*/
@Override
public double getInitialSz() {
return initialSz;
}
/**
* Sets initial z scaling factor.
*
* @param initialSz initial z scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialSz(final double initialSz) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSz = initialSz;
}
/**
* Gets initial x-y cross coupling error.
*
* @return initial x-y cross coupling error.
*/
@Override
public double getInitialMxy() {
return initialMxy;
}
/**
* Sets initial x-y cross coupling error.
*
* @param initialMxy initial x-y cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMxy(final double initialMxy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMxy = initialMxy;
}
/**
* Gets initial x-z cross coupling error.
*
* @return initial x-z cross coupling error.
*/
@Override
public double getInitialMxz() {
return initialMxz;
}
/**
* Sets initial x-z cross coupling error.
*
* @param initialMxz initial x-z cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMxz(final double initialMxz) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMxz = initialMxz;
}
/**
* Gets initial y-x cross coupling error.
*
* @return initial y-x cross coupling error.
*/
@Override
public double getInitialMyx() {
return initialMyx;
}
/**
* Sets initial y-x cross coupling error.
*
* @param initialMyx initial y-x cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMyx(final double initialMyx) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMyx = initialMyx;
}
/**
* Gets initial y-z cross coupling error.
*
* @return initial y-z cross coupling error.
*/
@Override
public double getInitialMyz() {
return initialMyz;
}
/**
* Sets initial y-z cross coupling error.
*
* @param initialMyz initial y-z cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMyz(final double initialMyz) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMyz = initialMyz;
}
/**
* Gets initial z-x cross coupling error.
*
* @return initial z-x cross coupling error.
*/
@Override
public double getInitialMzx() {
return initialMzx;
}
/**
* Sets initial z-x cross coupling error.
*
* @param initialMzx initial z-x cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMzx(final double initialMzx) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMzx = initialMzx;
}
/**
* Gets initial z-y cross coupling error.
*
* @return initial z-y cross coupling error.
*/
@Override
public double getInitialMzy() {
return initialMzy;
}
/**
* Sets initial z-y cross coupling error.
*
* @param initialMzy initial z-y cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMzy(final double initialMzy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMzy = initialMzy;
}
/**
* Sets initial scaling factors.
*
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialScalingFactors(final double initialSx, final double initialSy, final double initialSz)
throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSx = initialSx;
this.initialSy = initialSy;
this.initialSz = initialSz;
}
/**
* Sets initial cross coupling errors.
*
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialCrossCouplingErrors(
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMxy = initialMxy;
this.initialMxz = initialMxz;
this.initialMyx = initialMyx;
this.initialMyz = initialMyz;
this.initialMzx = initialMzx;
this.initialMzy = initialMzy;
}
/**
* Sets initial scaling factors and cross coupling errors.
*
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @param initialMxy initial x-y cross coupling error.
* @param initialMxz initial x-z cross coupling error.
* @param initialMyx initial y-x cross coupling error.
* @param initialMyz initial y-z cross coupling error.
* @param initialMzx initial z-x cross coupling error.
* @param initialMzy initial z-y cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialScalingFactorsAndCrossCouplingErrors(
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) throws LockedException {
if (running) {
throw new LockedException();
}
setInitialScalingFactors(initialSx, initialSy, initialSz);
setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Gets known accelerometer bias as an array.
* Array values are expressed in meters per squared second (m/s^2).
*
* @return array containing coordinates of known bias.
*/
@Override
public double[] getBias() {
final var result = new double[BodyKinematics.COMPONENTS];
getBias(result);
return result;
}
/**
* Gets known accelerometer bias as an array.
* Array values are expressed in meters per squared second (m/s^2).
*
* @param result instance where result data will be copied to.
* @throws IllegalArgumentException if provided array does not have length 3.
*/
@Override
public void getBias(final double[] result) {
if (result.length != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
result[0] = biasX;
result[1] = biasY;
result[2] = biasZ;
}
/**
* Sets known accelerometer bias as an array.
* Array values are expressed in meters per squared second (m/s^2).
*
* @param bias known accelerometer bias.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided array does not have length 3.
*/
@Override
public void setBias(final double[] bias) throws LockedException {
if (running) {
throw new LockedException();
}
if (bias.length != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
biasX = bias[0];
biasY = bias[1];
biasZ = bias[2];
}
/**
* Gets known accelerometer bias as a column matrix.
*
* @return known accelerometer bias as a column matrix.
*/
@Override
public Matrix getBiasAsMatrix() {
Matrix result;
try {
result = new Matrix(BodyKinematics.COMPONENTS, 1);
getBiasAsMatrix(result);
} catch (final WrongSizeException ignore) {
// never happens
result = null;
}
return result;
}
/**
* Gets known accelerometer bias as a column matrix.
*
* @param result instance where result data will be copied to.
* @throws IllegalArgumentException if provided matrix is not 3x1.
*/
@Override
public void getBiasAsMatrix(final Matrix result) {
if (result.getRows() != BodyKinematics.COMPONENTS || result.getColumns() != 1) {
throw new IllegalArgumentException();
}
result.setElementAtIndex(0, biasX);
result.setElementAtIndex(1, biasY);
result.setElementAtIndex(2, biasZ);
}
/**
* Sets known accelerometer bias as a column matrix.
*
* @param bias accelerometer bias to be set.
* @throws LockedException if calibrator is currently running
* @throws IllegalArgumentException if provided matrix is not 3x1.
*/
@Override
public void setBias(final Matrix bias) throws LockedException {
if (running) {
throw new LockedException();
}
if (bias.getRows() != BodyKinematics.COMPONENTS || bias.getColumns() != 1) {
throw new IllegalArgumentException();
}
biasX = bias.getElementAtIndex(0);
biasY = bias.getElementAtIndex(1);
biasZ = bias.getElementAtIndex(2);
}
/**
* Gets initial scale factors and cross coupling errors matrix.
*
* @return initial scale factors and cross coupling errors matrix.
*/
@Override
public Matrix getInitialMa() {
Matrix result;
try {
result = new Matrix(BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
getInitialMa(result);
} catch (final WrongSizeException ignore) {
// never happens
result = null;
}
return result;
}
/**
* Gets initial scale factors and cross coupling errors matrix.
*
* @param result instance where data will be stored.
* @throws IllegalArgumentException if provided matrix is not 3x3.
*/
@Override
public void getInitialMa(final Matrix result) {
if (result.getRows() != BodyKinematics.COMPONENTS || result.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
result.setElementAtIndex(0, initialSx);
result.setElementAtIndex(1, initialMyx);
result.setElementAtIndex(2, initialMzx);
result.setElementAtIndex(3, initialMxy);
result.setElementAtIndex(4, initialSy);
result.setElementAtIndex(5, initialMzy);
result.setElementAtIndex(6, initialMxz);
result.setElementAtIndex(7, initialMyz);
result.setElementAtIndex(8, initialSz);
}
/**
* Sets initial scale factors and cross coupling errors matrix.
*
* @param initialMa initial scale factors and cross coupling errors matrix.
* @throws IllegalArgumentException if provided matrix is not 3x3.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMa(final Matrix initialMa) throws LockedException {
if (running) {
throw new LockedException();
}
if (initialMa.getRows() != BodyKinematics.COMPONENTS || initialMa.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
initialSx = initialMa.getElementAtIndex(0);
initialMyx = initialMa.getElementAtIndex(1);
initialMzx = initialMa.getElementAtIndex(2);
initialMxy = initialMa.getElementAtIndex(3);
initialSy = initialMa.getElementAtIndex(4);
initialMzy = initialMa.getElementAtIndex(5);
initialMxz = initialMa.getElementAtIndex(6);
initialMyz = initialMa.getElementAtIndex(7);
initialSz = initialMa.getElementAtIndex(8);
}
/**
* Gets a collection of body kinematics measurements taken at different
* frames (positions, orientations and velocities) and containing the standard
* deviations of accelerometer and gyroscope measurements.
* 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.
*
* @return a collection of body kinematics measurements taken at different
* frames (positions, orientations and velocities).
*/
@Override
public Collection<StandardDeviationFrameBodyKinematics> getMeasurements() {
return measurements;
}
/**
* Sets a collection of body kinematics measurements taken at different
* frames (positions, orientations and velocities) and containing the standard
* deviations of accelerometer and gyroscope measurements.
* 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.
*
* @param measurements collection of body kinematics measurements taken at different
* frames (positions, orientations and velocities).
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setMeasurements(final Collection<? extends StandardDeviationFrameBodyKinematics> measurements)
throws LockedException {
if (running) {
throw new LockedException();
}
//noinspection unchecked
this.measurements = (Collection<StandardDeviationFrameBodyKinematics>) measurements;
}
/**
* Indicates the type of measurement used by this calibrator.
*
* @return type of measurement used by this calibrator.
*/
@Override
public AccelerometerCalibratorMeasurementType getMeasurementType() {
return AccelerometerCalibratorMeasurementType.STANDARD_DEVIATION_FRAME_BODY_KINEMATICS;
}
/**
* Indicates whether this calibrator requires ordered measurements in a
* list or not.
*
* @return true if measurements must be ordered, false otherwise.
*/
@Override
public boolean isOrderedMeasurementsRequired() {
return false;
}
/**
* Indicates whether this calibrator requires quality scores for each
* measurement or not.
*
* @return true if quality scores are required, false otherwise.
*/
@Override
public boolean isQualityScoresRequired() {
return false;
}
/**
* Indicates whether z-axis is assumed to be common for accelerometer and
* gyroscope.
* When enabled, this eliminates 3 variables from Ma matrix.
*
* @return true if z-axis is assumed to be common for accelerometer and gyroscope,
* false otherwise.
*/
@Override
public boolean isCommonAxisUsed() {
return commonAxisUsed;
}
/**
* Specifies whether z-axis is assumed to be common for accelerometer and
* gyroscope.
* When enabled, this eliminates 3 variables from Ma matrix.
*
* @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
* and gyroscope, false otherwise.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
if (running) {
throw new LockedException();
}
this.commonAxisUsed = commonAxisUsed;
}
/**
* Gets listener to handle events raised by this estimator.
*
* @return listener to handle events raised by this estimator.
*/
@Override
public KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener getListener() {
return listener;
}
/**
* Sets listener to handle events raised by this estimator.
*
* @param listener listener to handle events raised by this estimator.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setListener(final KnownBiasAndFrameAccelerometerNonLinearLeastSquaresCalibratorListener listener)
throws LockedException {
if (running) {
throw new LockedException();
}
this.listener = listener;
}
/**
* Gets minimum number of required measurements.
*
* @return minimum number of required measurements.
*/
@Override
public int getMinimumRequiredMeasurements() {
return MINIMUM_MEASUREMENTS;
}
/**
* Indicates whether calibrator is ready to start.
*
* @return true if calibrator is ready, false otherwise.
*/
@Override
public boolean isReady() {
return measurements != null && measurements.size() >= MINIMUM_MEASUREMENTS;
}
/**
* Indicates whether calibrator is currently running or not.
*
* @return true if calibrator is running, false otherwise.
*/
@Override
public boolean isRunning() {
return running;
}
/**
* Estimates accelerometer calibration parameters containing bias, scale factors
* and cross-coupling errors.
*
* @throws LockedException if calibrator is currently running.
* @throws NotReadyException if calibrator is not ready.
* @throws CalibrationException if estimation fails for numerical reasons.
*/
@Override
public void calibrate() throws LockedException, NotReadyException, CalibrationException {
if (running) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
try {
running = true;
if (listener != null) {
listener.onCalibrateStart(this);
}
if (commonAxisUsed) {
calibrateCommonAxis();
} else {
calibrateGeneral();
}
if (listener != null) {
listener.onCalibrateEnd(this);
}
} catch (final AlgebraException | FittingException | com.irurueta.numerical.NotReadyException e) {
throw new CalibrationException(e);
} finally {
running = false;
}
}
/**
* Gets estimated accelerometer scale factors and ross coupling errors.
* This is the product of matrix Ta containing cross coupling errors and Ka
* containing scaling factors.
* So tat:
* <pre>
* Ma = [sx mxy mxz] = Ta*Ka
* [myx sy myz]
* [mzx mzy sz ]
* </pre>
* Where:
* <pre>
* Ka = [sx 0 0 ]
* [0 sy 0 ]
* [0 0 sz]
* </pre>
* and
* <pre>
* Ta = [1 -alphaXy alphaXz ]
* [alphaYx 1 -alphaYz]
* [-alphaZx alphaZy 1 ]
* </pre>
* Hence:
* <pre>
* Ma = [sx mxy mxz] = Ta*Ka = [sx -sy * alphaXy sz * alphaXz ]
* [myx sy myz] [sx * alphaYx sy -sz * alphaYz]
* [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
* </pre>
* 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 Ma matrix
* becomes upper diagonal:
* <pre>
* Ma = [sx mxy mxz]
* [0 sy myz]
* [0 0 sz ]
* </pre>
* Values of this matrix are unit-less.
*
* @return estimated accelerometer scale factors and cross coupling errors, or null
* if not available.
*/
@Override
public Matrix getEstimatedMa() {
return estimatedMa;
}
/**
* Gets estimated x-axis scale factor.
*
* @return estimated x-axis scale factor or null if not available.
*/
@Override
public Double getEstimatedSx() {
return estimatedMa != null ? estimatedMa.getElementAt(0, 0) : null;
}
/**
* Gets estimated y-axis scale factor.
*
* @return estimated y-axis scale factor or null if not available.
*/
@Override
public Double getEstimatedSy() {
return estimatedMa != null ? estimatedMa.getElementAt(1, 1) : null;
}
/**
* Gets estimated z-axis scale factor.
*
* @return estimated z-axis scale factor or null if not available.
*/
@Override
public Double getEstimatedSz() {
return estimatedMa != null ? estimatedMa.getElementAt(2, 2) : null;
}
/**
* Gets estimated x-y cross-coupling error.
*
* @return estimated x-y cross-coupling error or null if not available.
*/
@Override
public Double getEstimatedMxy() {
return estimatedMa != null ? estimatedMa.getElementAt(0, 1) : null;
}
/**
* Gets estimated x-z cross-coupling error.
*
* @return estimated x-z cross-coupling error or null if not available.
*/
@Override
public Double getEstimatedMxz() {
return estimatedMa != null ? estimatedMa.getElementAt(0, 2) : null;
}
/**
* Gets estimated y-x cross-coupling error.
*
* @return estimated y-x cross-coupling error or null if not available.
*/
@Override
public Double getEstimatedMyx() {
return estimatedMa != null ? estimatedMa.getElementAt(1, 0) : null;
}
/**
* Gets estimated y-z cross-coupling error.
*
* @return estimated y-z cross-coupling error or null if not available.
*/
@Override
public Double getEstimatedMyz() {
return estimatedMa != null ? estimatedMa.getElementAt(1, 2) : null;
}
/**
* Gets estimated z-x cross-coupling error.
*
* @return estimated z-x cross-coupling error or null if not available.
*/
@Override
public Double getEstimatedMzx() {
return estimatedMa != null ? estimatedMa.getElementAt(2, 0) : null;
}
/**
* Gets estimated z-y cross-coupling error.
*
* @return estimated z-y cross-coupling error or null if not available.
*/
@Override
public Double getEstimatedMzy() {
return estimatedMa != null ? estimatedMa.getElementAt(2, 1) : null;
}
/**
* Gets estimated covariance matrix for estimated calibration parameters.
* Diagonal elements of the matrix contains variance for the following
* parameters (following indicated order): sx, sy, sz, mxy, mxz, myx,
* myz, mzx, mzy.
*
* @return estimated covariance matrix for estimated calibration parameters.
*/
@Override
public Matrix getEstimatedCovariance() {
return estimatedCovariance;
}
/**
* Gets estimated chi square value.
*
* @return estimated chi square value.
*/
@Override
public double getEstimatedChiSq() {
return estimatedChiSq;
}
/**
* Gets estimated chi square degrees of freedom. Degrees of freedom is equal to the number of sampled data minus the
* number of estimated parameters.
*
* @return estimated degrees of freedom of chi square value
*/
@Override
public int getEstimatedChiSqDegreesOfFreedom() {
return estimatedChiSqDegreesOfFreedom;
}
/**
* 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.
*
* @return estimated reduced chi square value
*/
@Override
public double getEstimatedReducedChiSq() {
return estimatedReducedChiSq;
}
/**
* Gets estimated mean square error respect to provided measurements.
*
* @return estimated mean square error respect to provided measurements.
*/
@Override
public double getEstimatedMse() {
return estimatedMse;
}
/**
* 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.
*
* @return estimated probability of finding a smaller chi square value.
*/
@Override
public double getEstimatedP() {
return estimatedP;
}
/**
* 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.
*
* @return estimated measure of quality of estimated fit.
*/
@Override
public double getEstimatedQ() {
return estimatedQ;
}
/**
* Internal method to perform calibration when common z-axis is assumed for both
* the accelerometer and gyroscope.
*
* @throws AlgebraException if there are numerical errors.
* @throws FittingException if no convergence to solution is found.
* @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
*/
private void calibrateCommonAxis() throws AlgebraException, FittingException,
com.irurueta.numerical.NotReadyException {
// The accelerometer model is:
// fmeas = ba + (I + Ma) * ftrue + w
// Ideally a least squares solution tries to minimize noise component, so:
// fmeas = ba + (I + Ma) * ftrue
// Hence:
// [fmeasx] = [bx] + ( [1 0 0] + [sx mxy mxz]) [ftruex]
// [fmeasy] = [by] [0 1 0] [myx sy myz] [ftruey]
// [fmeasz] = [bz] [0 0 1] [mzx mzy sz ] [ftruez]
// where myx = mzx = mzy = 0
// Hence:
// [fmeasx] = [bx] + ( [1 0 0] + [sx mxy mxz]) [ftruex]
// [fmeasy] = [by] [0 1 0] [0 sy myz] [ftruey]
// [fmeasz] = [bz] [0 0 1] [0 0 sz ] [ftruez]
// [fmeasx] = [bx] + [1+sx mxy mxz ][ftruex]
// [fmeasy] [by] [0 1+sy myz ][ftruey]
// [fmeasz] [bz] [0 0 1+sz][ftruez]
// fmeasx = bx + (1+sx) * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy = by + (1+sy) * ftruey + myz * ftruez
// fmeasz = bz + (1+sz) * ftruez
// Where the unknowns are: sx, sy, sz, mxy mxz, myz
// Reordering:
// fmeasx = bx + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy = by + ftruey + sy * ftruey + myz * ftruez
// fmeasz = bz + ftruez + sz * ftruez
// fmeasx - ftruex - bx = sx * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy - ftruey - by = sy * ftruey + myz * ftruez
// fmeasz - ftruez - bz = sz * ftruez
// [ftruex 0 0 ftruey ftruez 0 ][sx ] = [fmeasx - ftruex - bx]
// [0 ftruey 0 0 0 ftruez][sy ] [fmeasy - ftruey - by]
// [0 0 ftruez 0 0 0 ][sz ] [fmeasz - ftruez - bz]
// [mxy]
// [mxz]
// [myz]
fitter.setFunctionEvaluator(new LevenbergMarquardtMultiVariateFunctionEvaluator() {
@Override
public int getNumberOfDimensions() {
// Input points are true specific force coordinates
return BodyKinematics.COMPONENTS;
}
@Override
public int getNumberOfVariables() {
// The multivariate function returns the components of measured specific force
return BodyKinematics.COMPONENTS;
}
@Override
public double[] createInitialParametersArray() {
final var initial = new double[COMMON_Z_AXIS_UNKNOWNS];
initial[0] = initialSx;
initial[1] = initialSy;
initial[2] = initialSz;
initial[3] = initialMxy;
initial[4] = initialMxz;
initial[5] = initialMyz;
return initial;
}
@Override
public void evaluate(
final int i, final double[] point, final double[] result,
final double[] params, final Matrix jacobian) {
// We know that
// fmeasx = bx + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy = by + ftruey + sy * ftruey + myz * ftruez
// fmeasz = bz + ftruez + sz * ftruez
// Hence, the derivatives respect the parameters sx, sy, sz, mxy, mxz, myz are:
// d(fmeasx)/d(sx) = ftruex
// d(fmeasx)/d(sy) = 0.0
// d(fmeasx)/d(sz) = 0.0
// d(fmeasx)/d(mxy) = ftruey
// d(fmeasx)/d(mxz) = ftruez
// d(fmeasx)/d(myz) = 0.0
// d(fmeasy)/d(sx) = 0.0
// d(fmeasy)/d(sy) = ftruey
// d(fmeasy)/d(sz) = 0.0
// d(fmeasy)/d(mxy) = 0.0
// d(fmeasy)/d(mxz) = 0.0
// d(fmeasy)/d(myz) = ftruez
// d(fmeasy)/d(sx) = 0.0
// d(fmeasy)/d(sy) = 0.0
// d(fmeasy)/d(sz) = ftruez
// d(fmeasy)/d(mxy) = 0.0
// d(fmeasy)/d(mxz) = 0.0
// d(fmeasy)/d(myz) = 0.0
final var sx = params[0];
final var sy = params[1];
final var sz = params[2];
final var mxy = params[3];
final var mxz = params[4];
final var myz = params[5];
final var ftruex = point[0];
final var ftruey = point[1];
final var ftruez = point[2];
result[0] = biasX + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez;
result[1] = biasY + ftruey + sy * ftruey + myz * ftruez;
result[2] = biasZ + ftruez + sz * ftruez;
jacobian.setElementAt(0, 0, ftruex);
jacobian.setElementAt(0, 1, 0.0);
jacobian.setElementAt(0, 2, 0.0);
jacobian.setElementAt(0, 3, ftruey);
jacobian.setElementAt(0, 4, ftruez);
jacobian.setElementAt(0, 5, 0.0);
jacobian.setElementAt(1, 0, 0.0);
jacobian.setElementAt(1, 1, ftruey);
jacobian.setElementAt(1, 2, 0.0);
jacobian.setElementAt(1, 3, 0.0);
jacobian.setElementAt(1, 4, 0.0);
jacobian.setElementAt(1, 5, ftruez);
jacobian.setElementAt(2, 0, 0.0);
jacobian.setElementAt(2, 1, 0.0);
jacobian.setElementAt(2, 2, ftruez);
jacobian.setElementAt(2, 3, 0.0);
jacobian.setElementAt(2, 4, 0.0);
jacobian.setElementAt(2, 5, 0.0);
}
});
setInputData();
fitter.fit();
final var result = fitter.getA();
final var sx = result[0];
final var sy = result[1];
final var sz = result[2];
final var mxy = result[3];
final var mxz = result[4];
final var myz = result[5];
if (estimatedMa == null) {
estimatedMa = new Matrix(BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
} else {
estimatedMa.initialize(0.0);
}
estimatedMa.setElementAt(0, 0, sx);
estimatedMa.setElementAt(0, 1, mxy);
estimatedMa.setElementAt(1, 1, sy);
estimatedMa.setElementAt(0, 2, mxz);
estimatedMa.setElementAt(1, 2, myz);
estimatedMa.setElementAt(2, 2, sz);
estimatedCovariance = fitter.getCovar();
// propagate covariance matrix so that all parameters are taken into
// account in the order: sx, sy, sz, mxy, mxz, myx, myz, mzx, mzy
// We define a lineal function mapping original parameters for the common
// axis case to the general case
// [sx'] = [1 0 0 0 0 0][sx]
// [sy'] [0 1 0 0 0 0][sy]
// [sz'] [0 0 1 0 0 0][sz]
// [mxy'] [0 0 0 1 0 0][mxy]
// [mxz'] [0 0 0 0 1 0][mxz]
// [myx'] [0 0 0 0 0 0][myz]
// [myz'] [0 0 0 0 0 1]
// [mzx'] [0 0 0 0 0 0]
// [mzy'] [0 0 0 0 0 0]
// As defined in com.irurueta.statistics.MultivariateNormalDist,
// if we consider the jacobian of the lineal application the matrix shown
// above, then covariance can be propagated as follows
final var jacobian = Matrix.identity(GENERAL_UNKNOWNS, COMMON_Z_AXIS_UNKNOWNS);
jacobian.setElementAt(5, 5, 0.0);
jacobian.setElementAt(6, 5, 1.0);
// propagated covariance is J * Cov * J'
final var jacobianTrans = jacobian.transposeAndReturnNew();
jacobian.multiply(estimatedCovariance);
jacobian.multiply(jacobianTrans);
estimatedCovariance = jacobian;
estimatedChiSq = fitter.getChisq();
estimatedChiSqDegreesOfFreedom = fitter.getChisqDegreesOfFreedom();
estimatedReducedChiSq = fitter.getReducedChisq();
estimatedMse = fitter.getMse();
try {
estimatedP = fitter.getP();
estimatedQ = fitter.getQ();
} catch (final MaxIterationsExceededException ignore) {
// if numerical instabilities arise, we assume worst case (no fit at all)
// probability of finding a smaller chi square value is 1.0
// quality of fit is 0.0
estimatedP = 1.0;
estimatedQ = 0.0;
}
}
/**
* Internal method to perform general calibration.
*
* @throws AlgebraException if there are numerical errors.
* @throws FittingException if no convergence to solution is found.
* @throws com.irurueta.numerical.NotReadyException if fitter is not ready.
*/
private void calibrateGeneral() throws AlgebraException, FittingException,
com.irurueta.numerical.NotReadyException {
// The accelerometer model is:
// fmeas = ba + (I + Ma) * ftrue + w
// Ideally a least squares solution tries to minimize noise component, so:
// fmeas = ba + (I + Ma) * ftrue
// Hence:
// [fmeasx] = [bx] + ( [1 0 0] + [sx mxy mxz]) [ftruex]
// [fmeasy] = [by] [0 1 0] [myx sy myz] [ftruey]
// [fmeasz] = [bz] [0 0 1] [mzx mzy sz ] [ftruez]
// [fmeasx] = [bx] + [1+sx mxy mxz ][ftruex]
// [fmeasy] [by] [myx 1+sy myz ][ftruey]
// [fmeasz] [bz] [mzx mzy 1+sz][ftruez]
// fmeasx = bx + (1+sx) * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy = by + myx * ftruex + (1+sy) * ftruey + myz * ftruez
// fmeasz = bz + mzx * ftruex + mzy * ftruey + (1+sz) * ftruez
// Where the unknowns are: sx, sy, sz, mxy mxz, myx, myz, mzx, mzy
// Reordering:
// fmeasx = bx + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy = by + myx * ftruex + ftruey + sy * ftruey + myz * ftruez
// fmeasz = bz + mzx * ftruex + mzy * ftruey + ftruez + sz * ftruez
// fmeasx - ftruex - bx = sx * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy - ftruey - by = myx * ftruex + sy * ftruey + myz * ftruez
// fmeasz - ftruez - bz = mzx * ftruex + mzy * ftruey + sz * ftruez
// [ftruex 0 0 ftruey ftruez 0 0 0 0 ][sx ] = [fmeasx - ftruex - bx]
// [0 ftruey 0 0 0 ftruex ftruez 0 0 ][sy ] [fmeasy - ftruey - by]
// [0 0 ftruez 0 0 0 0 ftruex ftruey][sz ] [fmeasz - ftruez - bz]
// [mxy]
// [mxz]
// [myx]
// [myz]
// [mzx]
// [mzy]
fitter.setFunctionEvaluator(new LevenbergMarquardtMultiVariateFunctionEvaluator() {
@Override
public int getNumberOfDimensions() {
// Input points are true specific force coordinates
return BodyKinematics.COMPONENTS;
}
@Override
public int getNumberOfVariables() {
// The multivariate function returns the components of measured specific force
return BodyKinematics.COMPONENTS;
}
@Override
public double[] createInitialParametersArray() {
final var initial = new double[GENERAL_UNKNOWNS];
initial[0] = initialSx;
initial[1] = initialSy;
initial[2] = initialSz;
initial[3] = initialMxy;
initial[4] = initialMxz;
initial[5] = initialMyx;
initial[6] = initialMyz;
initial[7] = initialMzx;
initial[8] = initialMzy;
return initial;
}
@Override
public void evaluate(
final int i, final double[] point, final double[] result,
final double[] params, final Matrix jacobian) {
// We know that:
// fmeasx = bx + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy = by + myx * ftruex + ftruey + sy * ftruey + myz * ftruez
// fmeasz = bz + mzx * ftruex + mzy * ftruey + ftruez + sz * ftruez
// Hence, the derivatives respect the parameters sx, sy, sz,
// mxy, mxz, myx, myz, mzx and mzy is:
// d(fmeasx)/d(sx) = ftruex
// d(fmeasx)/d(sy) = 0.0
// d(fmeasx)/d(sz) = 0.0
// d(fmeasx)/d(mxy) = ftruey
// d(fmeasx)/d(mxz) = ftruez
// d(fmeasx)/d(myx) = 0.0
// d(fmeasx)/d(myz) = 0.0
// d(fmeasx)/d(mzx) = 0.0
// d(fmeasx)/d(mzy) = 0.0
// d(fmeasy)/d(sx) = 0.0
// d(fmeasy)/d(sy) = ftruey
// d(fmeasy)/d(sz) = 0.0
// d(fmeasy)/d(mxy) = 0.0
// d(fmeasy)/d(mxz) = 0.0
// d(fmeasy)/d(myx) = ftruex
// d(fmeasy)/d(myz) = ftruez
// d(fmeasy)/d(mzx) = 0.0
// d(fmeasy)/d(mzy) = 0.0
// d(fmeasz)/d(sx) = 0.0
// d(fmeasz)/d(sy) = 0.0
// d(fmeasz)/d(sz) = ftruez
// d(fmeasz)/d(mxy) = 0.0
// d(fmeasz)/d(mxz) = 0.0
// d(fmeasz)/d(myx) = 0.0
// d(fmeasz)/d(myz) = 0.0
// d(fmeasz)/d(mzx) = ftruex
// d(fmeasz)/d(mzy) = ftruey
final var sx = params[0];
final var sy = params[1];
final var sz = params[2];
final var mxy = params[3];
final var mxz = params[4];
final var myx = params[5];
final var myz = params[6];
final var mzx = params[7];
final var mzy = params[8];
final var ftruex = point[0];
final var ftruey = point[1];
final var ftruez = point[2];
result[0] = biasX + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez;
result[1] = biasY + myx * ftruex + ftruey + sy * ftruey + myz * ftruez;
result[2] = biasZ + mzx * ftruex + mzy * ftruey + ftruez + sz * ftruez;
jacobian.setElementAt(0, 0, ftruex);
jacobian.setElementAt(0, 1, 0.0);
jacobian.setElementAt(0, 2, 0.0);
jacobian.setElementAt(0, 3, ftruey);
jacobian.setElementAt(0, 4, ftruez);
jacobian.setElementAt(0, 5, 0.0);
jacobian.setElementAt(0, 6, 0.0);
jacobian.setElementAt(0, 7, 0.0);
jacobian.setElementAt(0, 8, 0.0);
jacobian.setElementAt(1, 0, 0.0);
jacobian.setElementAt(1, 1, ftruey);
jacobian.setElementAt(1, 2, 0.0);
jacobian.setElementAt(1, 3, 0.0);
jacobian.setElementAt(1, 4, 0.0);
jacobian.setElementAt(1, 5, ftruex);
jacobian.setElementAt(1, 6, ftruez);
jacobian.setElementAt(1, 7, 0.0);
jacobian.setElementAt(1, 8, 0.0);
jacobian.setElementAt(2, 0, 0.0);
jacobian.setElementAt(2, 1, 0.0);
jacobian.setElementAt(2, 2, ftruez);
jacobian.setElementAt(2, 3, 0.0);
jacobian.setElementAt(2, 4, 0.0);
jacobian.setElementAt(2, 5, 0.0);
jacobian.setElementAt(2, 6, 0.0);
jacobian.setElementAt(2, 7, ftruex);
jacobian.setElementAt(2, 8, ftruey);
}
});
setInputData();
fitter.fit();
final var result = fitter.getA();
final var sx = result[0];
final var sy = result[1];
final var sz = result[2];
final var mxy = result[3];
final var mxz = result[4];
final var myx = result[5];
final var myz = result[6];
final var mzx = result[7];
final var mzy = result[8];
if (estimatedMa == null) {
estimatedMa = new Matrix(BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
} else {
estimatedMa.initialize(0.0);
}
estimatedMa.setElementAt(0, 0, sx);
estimatedMa.setElementAt(1, 0, myx);
estimatedMa.setElementAt(2, 0, mzx);
estimatedMa.setElementAt(0, 1, mxy);
estimatedMa.setElementAt(1, 1, sy);
estimatedMa.setElementAt(2, 1, mzy);
estimatedMa.setElementAt(0, 2, mxz);
estimatedMa.setElementAt(1, 2, myz);
estimatedMa.setElementAt(2, 2, sz);
estimatedCovariance = fitter.getCovar();
estimatedChiSq = fitter.getChisq();
estimatedChiSqDegreesOfFreedom = fitter.getChisqDegreesOfFreedom();
estimatedReducedChiSq = fitter.getReducedChisq();
estimatedMse = fitter.getMse();
try {
estimatedP = fitter.getP();
estimatedQ = fitter.getQ();
} catch (final MaxIterationsExceededException ignore) {
// if numerical instabilities arise, we assume worst case (no fit at all)
// probability of finding a smaller chi square value is 1.0
// quality of fit is 0.0
estimatedP = 1.0;
estimatedQ = 0.0;
}
}
/**
* Sets input data into Levenberg-Marquardt fitter.
*
* @throws WrongSizeException never happens.
*/
private void setInputData() throws WrongSizeException {
// set input data using:
// fmeasx = bx + ftruex + sx * ftruex + mxy * ftruey + mxz * ftruez
// fmeasy = by + myx * ftruex + ftruey + sy * ftruey + myz * ftruez
// fmeasz = bz + mzx * ftruex + mzy * ftruey + ftruez + sz * ftruez
final var expectedKinematics = new BodyKinematics();
final var numMeasurements = measurements.size();
final var x = new Matrix(numMeasurements, BodyKinematics.COMPONENTS);
final var y = new Matrix(numMeasurements, BodyKinematics.COMPONENTS);
final var specificForceStandardDeviations = new double[numMeasurements];
var i = 0;
for (final var measurement : measurements) {
final var measuredKinematics = measurement.getKinematics();
final var ecefFrame = measurement.getFrame();
final var previousEcefFrame = measurement.getPreviousFrame();
final var timeInterval = measurement.getTimeInterval();
ECEFKinematicsEstimator.estimateKinematics(timeInterval, ecefFrame, previousEcefFrame, expectedKinematics);
final var fMeasX = measuredKinematics.getFx();
final var fMeasY = measuredKinematics.getFy();
final var fMeasZ = measuredKinematics.getFz();
final var fTrueX = expectedKinematics.getFx();
final var fTrueY = expectedKinematics.getFy();
final var fTrueZ = expectedKinematics.getFz();
x.setElementAt(i, 0, fTrueX);
x.setElementAt(i, 1, fTrueY);
x.setElementAt(i, 2, fTrueZ);
y.setElementAt(i, 0, fMeasX);
y.setElementAt(i, 1, fMeasY);
y.setElementAt(i, 2, fMeasZ);
specificForceStandardDeviations[i] = measurement.getSpecificForceStandardDeviation();
i++;
}
fitter.setInputData(x, y, specificForceStandardDeviations);
}
/**
* Converts acceleration value and unit to meters per squared second.
*
* @param value acceleration value.
* @param unit unit of acceleration value.
* @return converted value.
*/
private static double convertAcceleration(final double value, final AccelerationUnit unit) {
return AccelerationConverter.convert(value, unit, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Converts acceleration instance to meters per squared second.
*
* @param acceleration acceleration instance to be converted.
* @return converted value.
*/
private static double convertAcceleration(final Acceleration acceleration) {
return convertAcceleration(acceleration.getValue().doubleValue(), acceleration.getUnit());
}
}