KnownGravityNormAccelerometerCalibrator.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.Matrix;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.inertial.calibration.StandardDeviationBodyKinematics;
import com.irurueta.units.Acceleration;
import java.util.Collection;
/**
* Estimates accelerometer biases, cross couplings and scaling factors.
* This calibrator uses Levenberg-Marquardt to find a minimum least squared error
* solution.
* <p>
* To use this calibrator at least 10 measurements taken at a single position where
* gravity norm is known must be taken at 10 different unknown orientations and zero
* velocity when common z-axis is assumed, otherwise at least 13 measurements are required.
* <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. Ideally, on a perfect accelerometer, this should be a
* 3x1 zero 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-truth specific force.
* - w is measurement noise.
*/
public class KnownGravityNormAccelerometerCalibrator extends
BaseGravityNormAccelerometerCalibrator<KnownGravityNormAccelerometerCalibrator,
KnownGravityNormAccelerometerCalibratorListener> {
/**
* Constructor.
*/
public KnownGravityNormAccelerometerCalibrator() {
super();
}
/**
* Constructor.
*
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(final KnownGravityNormAccelerometerCalibratorListener listener) {
super(listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
*/
public KnownGravityNormAccelerometerCalibrator(final Collection<StandardDeviationBodyKinematics> measurements) {
super(measurements);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownGravityNormAccelerometerCalibrator(final boolean commonAxisUsed) {
super(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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed) {
super(measurements, commonAxisUsed);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
*/
public KnownGravityNormAccelerometerCalibrator(
final double initialBiasX, final double initialBiasY, final double initialBiasZ) {
super(initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ) {
super(initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
*/
public KnownGravityNormAccelerometerCalibrator(
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final double initialBiasX,
final double initialBiasY, final double initialBiasZ, final double initialSx, final double initialSy,
final double initialSz) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final double initialBiasX,
final double initialBiasY, final double initialBiasZ, final double initialSx, final double initialSy,
final double initialSz, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ, final double initialSx,
final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
listener);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
listener);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 KnownGravityNormAccelerometerCalibrator(
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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) {
super(initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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) {
super(initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(final double[] initialBias) {
super(initialBias);
}
/**
* Constructor.
*
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(
final double[] initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(initialBias, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final double[] initialBias) {
super(measurements, initialBias);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBias, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(final boolean commonAxisUsed, final double[] initialBias) {
super(commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double[] initialBias) {
super(measurements, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final double[] initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(final Matrix initialBias) {
super(initialBias);
}
/**
* Constructor.
*
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(
final Matrix initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(initialBias, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final Matrix initialBias) {
super(measurements, initialBias);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBias, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(final boolean commonAxisUsed, final Matrix initialBias) {
super(commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias) {
super(measurements, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1.
*/
public KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Matrix initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(final Matrix initialBias, final Matrix initialMa) {
super(initialBias, initialMa);
}
/**
* Constructor.
*
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMa) {
super(measurements, initialBias, initialMa);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final Matrix initialBias,
final Matrix initialMa, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Matrix initialBias, final Matrix initialMa) {
super(commonAxisUsed, initialBias, initialMa);
}
/**
* Constructor.
*
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final boolean commonAxisUsed, final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(commonAxisUsed, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Matrix initialBias, final Matrix initialMa) {
super(measurements, commonAxisUsed, initialBias, initialMa);
}
/**
* Constructor.
*
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 KnownGravityNormAccelerometerCalibrator(
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed,
final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(measurements, commonAxisUsed, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(final Double groundTruthGravityNorm) {
super(groundTruthGravityNorm);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements) {
super(groundTruthGravityNorm, measurements);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed) {
super(groundTruthGravityNorm, commonAxisUsed);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm,
final Collection<StandardDeviationBodyKinematics> measurements, final boolean commonAxisUsed) {
super(groundTruthGravityNorm, measurements, commonAxisUsed);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @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 gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
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) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(final Double groundTruthGravityNorm, final double[] initialBias) {
super(groundTruthGravityNorm, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double[] initialBias) {
super(groundTruthGravityNorm, measurements, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final double[] initialBias) {
super(groundTruthGravityNorm, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double[] initialBias) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(final Double groundTruthGravityNorm, final Matrix initialBias) {
super(groundTruthGravityNorm, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias) {
super(groundTruthGravityNorm, measurements, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias) {
super(groundTruthGravityNorm, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Matrix initialBias, final Matrix initialMa) {
super(groundTruthGravityNorm, initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMa) {
super(groundTruthGravityNorm, measurements, initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias,
final Matrix initialMa) {
super(groundTruthGravityNorm, commonAxisUsed, initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm 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 initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias,
final Matrix initialMa, final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, commonAxisUsed, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias, final Matrix initialMa) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm expressed in meters per
* squared second (m/s^2).
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Double groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
super(groundTruthGravityNorm, measurements, commonAxisUsed, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(final Acceleration groundTruthGravityNorm) {
this(convertAcceleration(groundTruthGravityNorm));
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements) {
this(convertAcceleration(groundTruthGravityNorm), measurements);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @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 gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @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 gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ,
listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements,
initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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 listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ, final double initialSx,
final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialSx initial x scaling factor.
* @param initialSy initial y scaling factor.
* @param initialSz initial z scaling factor.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, final double initialSx, final double initialSy, final double initialSz,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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(convertAcceleration(groundTruthGravityNorm), measurements,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed,
final double initialBiasX, final double initialBiasY, final double initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution. This is expressed in meters per squared
* second (m/s^2).
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution. This is 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.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double initialBiasX, final double initialBiasY,
final double initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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(convertAcceleration(groundTruthGravityNorm), measurements, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Acceleration initialBiasX, final Acceleration initialBiasY, final Acceleration initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
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(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Acceleration initialBiasX,
final Acceleration initialBiasY, final Acceleration initialBiasZ,
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 KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBiasX, initialBiasY, initialBiasZ,
initialSx, initialSy, initialSz, initialMxy, initialMxz, initialMyx,
initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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 IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBiasX initial x-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasY initial y-coordinate of accelerometer bias to be used
* to find a solution.
* @param initialBiasZ initial z-coordinate of accelerometer bias to be used
* to find a solution.
* @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.
* @throws IllegalArgumentException if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Acceleration initialBiasX, final Acceleration initialBiasY,
final Acceleration initialBiasZ, 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 KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed,
initialBiasX, initialBiasY, initialBiasZ, initialSx, initialSy, initialSz,
initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final double[] initialBias) {
this(convertAcceleration(groundTruthGravityNorm), initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double[] initialBias) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final double[] initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final double[] initialBias) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double[] initialBias) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial accelerometer bias to be used to find a solution.
* 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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final double[] initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Matrix initialBias) {
this(convertAcceleration(groundTruthGravityNorm), initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed, initialBias);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @param listener listener to handle events raised by this calibrator.
* @throws IllegalArgumentException if provided bias matrix is not 3x1 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed, initialBias, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Matrix initialBias, final Matrix initialMa) {
this(convertAcceleration(groundTruthGravityNorm), initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMa) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias,
final Matrix initialMa) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final boolean commonAxisUsed, final Matrix initialBias,
final Matrix initialMa, final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), commonAxisUsed, initialBias, initialMa, listener);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias, final Matrix initialMa) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed, initialBias, initialMa);
}
/**
* Constructor.
*
* @param groundTruthGravityNorm ground truth gravity norm.
* @param measurements collection of body kinematics measurements with standard
* deviations taken at the same position with zero velocity
* and unknown different orientations.
* @param commonAxisUsed indicates whether z-axis is assumed to be common for
* accelerometer and gyroscope.
* @param initialBias initial bias to find a solution.
* @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 or
* if provided gravity norm value is negative.
*/
public KnownGravityNormAccelerometerCalibrator(
final Acceleration groundTruthGravityNorm, final Collection<StandardDeviationBodyKinematics> measurements,
final boolean commonAxisUsed, final Matrix initialBias, final Matrix initialMa,
final KnownGravityNormAccelerometerCalibratorListener listener) {
this(convertAcceleration(groundTruthGravityNorm), measurements, commonAxisUsed, initialBias, initialMa,
listener);
}
/**
* Sets ground truth gravity norm to be expected at location where
* measurements have been made, expressed in meters per squared second
* (m/s^2).
*
* @param groundTruthGravityNorm ground truth gravity norm or
* null if undefined.
* @throws IllegalArgumentException if provided value is negative.
* @throws LockedException if calibrator is currently running.
*/
public void setGroundTruthGravityNorm(final Double groundTruthGravityNorm) throws LockedException {
if (isRunning()) {
throw new LockedException();
}
internalSetGroundTruthGravityNorm(groundTruthGravityNorm);
}
/**
* Sets ground truth gravity norm to be expected at location where
* measurements have been made.
*
* @param groundTruthGravityNorm ground truth gravity norm or null
* if undefined.
* @throws IllegalArgumentException if provided value is negative.
* @throws LockedException if calibrator is currently running.
*/
public void setGroundTruthGravityNorm(final Acceleration groundTruthGravityNorm) throws LockedException {
setGroundTruthGravityNorm(groundTruthGravityNorm != null ? convertAcceleration(groundTruthGravityNorm) : null);
}
}