MSACRobustKnownBiasEasyGyroscopeCalibrator.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.gyroscope;
import com.irurueta.algebra.AlgebraException;
import com.irurueta.algebra.Matrix;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.NotReadyException;
import com.irurueta.navigation.inertial.calibration.BodyKinematicsSequence;
import com.irurueta.navigation.inertial.calibration.CalibrationException;
import com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics;
import com.irurueta.numerical.robust.MSACRobustEstimator;
import com.irurueta.numerical.robust.MSACRobustEstimatorListener;
import com.irurueta.numerical.robust.RobustEstimator;
import com.irurueta.numerical.robust.RobustEstimatorException;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Robustly estimates gyroscope cross couplings and scaling factors
* along with G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer using MSAC robust estimator.
* <p>
* This calibrator assumes that the IMU is at a more or less fixed location on
* Earth, and evaluates sequences of measured body kinematics to perform
* calibration for unknown orientations on those provided sequences.
* Each provided sequence will be preceded by a static period where mean
* specific force will be measured to determine gravity (and hence partial
* body attitude).
* <p>
* Measured gyroscope angular rates is assumed to follow the model shown below:
* <pre>
* Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w
* </pre>
* Where:
* - Ωmeas is the measured gyroscope angular rates. This is a 3x1 vector.
* - bg is the gyroscope bias. Ideally, on a perfect gyroscope, this should be a
* 3x1 zero vector.
* - I is the 3x3 identity matrix.
* - Mg is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on
* a perfect gyroscope, this should be a 3x3 zero matrix.
* - Ωtrue is ground-truth gyroscope angular rates.
* - Gg is the G-dependent cross biases introduced by the specific forces sensed
* by the accelerometer. Ideally, on a perfect gyroscope, this should be a 3x3
* zero matrix.
* - ftrue is ground-truth specific force. This is a 3x1 vector.
* - w is measurement noise. This is a 3x1 vector.
*/
public class MSACRobustKnownBiasEasyGyroscopeCalibrator extends RobustKnownBiasEasyGyroscopeCalibrator {
/**
* Constant defining default threshold to determine whether samples are
* inliers or not.
*/
public static final double DEFAULT_THRESHOLD = 1e-3;
/**
* Minimum value that can be set as threshold.
* Threshold must be strictly greater than 0.0.
*/
public static final double MIN_THRESHOLD = 0.0;
/**
* Threshold to determine whether samples are inliers or not when
* testing possible estimation solutions.
*/
private double threshold = DEFAULT_THRESHOLD;
/**
* Constructor.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator() {
super();
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
final Matrix initialMg, final Matrix initialGg) {
super(sequences, bias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
final Matrix initialMg, final Matrix initialGg,
final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, bias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
final Matrix initialMg, final Matrix initialGg) {
super(sequences, bias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
final Matrix initialMg, final Matrix initialGg,
final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, bias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must
* have length 3 and is expressed in
* meters per squared second
* (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must be 3x1
* and is expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This must be 3x1
* and is expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors and
* cross coupling matrix. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
final Matrix initialMg, final Matrix initialGg) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
final Matrix initialMg, final Matrix initialGg,
final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
final Matrix initialMg, final Matrix initialGg) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
final Matrix initialMg, final Matrix initialGg,
final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, listener);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must have length 3 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param commonAxisUsed indicates whether z-axis is
* assumed to be common for
* accelerometer and gyroscope.
* @param estimateGDependentCrossBiases true if G-dependent cross biases
* will be estimated, false
* otherwise.
* @param bias gyroscope known bias. This must be 3x1 and is
* expressed in radians per second (rad/s).
* @param initialMg initial gyroscope scale factors and cross coupling
* errors matrix. Must be 3x3.
* @param initialGg initial gyroscope G-dependent cross biases
* introduced on the gyroscope by the specific forces
* sensed by the accelerometer. Must be 3x3.
* @param accelerometerBias known accelerometer bias. This
* must have length 3 and is
* expressed in meters per squared
* second (m/s^2).
* @param accelerometerMa known accelerometer scale factors
* and cross coupling matrix. Must
* be 3x3.
* @param listener listener to handle events raised by this
* calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public MSACRobustKnownBiasEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
}
/**
* Returns threshold to determine whether samples are inliers or not.
*
* @return threshold to determine whether samples are inliers or not.
*/
public double getThreshold() {
return threshold;
}
/**
* Sets threshold to determine whether samples are inliers or not.
*
* @param threshold threshold to be set.
* @throws IllegalArgumentException if provided value is equal or less than
* zero.
* @throws LockedException if calibrator is currently running.
*/
public void setThreshold(final double threshold) throws LockedException {
if (running) {
throw new LockedException();
}
if (threshold <= MIN_THRESHOLD) {
throw new IllegalArgumentException();
}
this.threshold = threshold;
}
/**
* Estimates gyroscope calibration parameters containing scale factors,
* cross-coupling errors and G-dependent coupling.
*
* @throws LockedException if calibrator is currently running.
* @throws NotReadyException if calibrator is not ready.
* @throws CalibrationException if estimation fails for numerical reasons.
*/
@SuppressWarnings("DuplicatedCode")
@Override
public void calibrate() throws LockedException, NotReadyException, CalibrationException {
if (running) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
final var innerEstimator = new MSACRobustEstimator<>(new MSACRobustEstimatorListener<PreliminaryResult>() {
@Override
public double getThreshold() {
return threshold;
}
@Override
public int getTotalSamples() {
return sequences.size();
}
@Override
public int getSubsetSize() {
return preliminarySubsetSize;
}
@Override
public void estimatePreliminarSolutions(
final int[] samplesIndices, final List<PreliminaryResult> solutions) {
computePreliminarySolutions(samplesIndices, solutions);
}
@Override
public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
return computeError(sequences.get(i), currentEstimation);
}
@Override
public boolean isReady() {
return MSACRobustKnownBiasEasyGyroscopeCalibrator.super.isReady();
}
@Override
public void onEstimateStart(final RobustEstimator<PreliminaryResult> estimator) {
// no action needed
}
@Override
public void onEstimateEnd(final RobustEstimator<PreliminaryResult> estimator) {
// no action needed
}
@Override
public void onEstimateNextIteration(final RobustEstimator<PreliminaryResult> estimator,
final int iteration) {
if (listener != null) {
listener.onCalibrateNextIteration(
MSACRobustKnownBiasEasyGyroscopeCalibrator.this, iteration);
}
}
@Override
public void onEstimateProgressChange(
final RobustEstimator<PreliminaryResult> estimator, final float progress) {
if (listener != null) {
listener.onCalibrateProgressChange(
MSACRobustKnownBiasEasyGyroscopeCalibrator.this, progress);
}
}
});
try {
running = true;
if (listener != null) {
listener.onCalibrateStart(this);
}
setupAccelerationFixer();
inliersData = null;
innerEstimator.setConfidence(confidence);
innerEstimator.setMaxIterations(maxIterations);
innerEstimator.setProgressDelta(progressDelta);
final var preliminaryResult = innerEstimator.estimate();
inliersData = innerEstimator.getInliersData();
attemptRefine(preliminaryResult);
if (listener != null) {
listener.onCalibrateEnd(this);
}
} catch (final com.irurueta.numerical.LockedException e) {
throw new LockedException(e);
} catch (final com.irurueta.numerical.NotReadyException e) {
throw new NotReadyException(e);
} catch (final RobustEstimatorException | AlgebraException e) {
throw new CalibrationException(e);
} finally {
running = false;
}
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.MSAC;
}
/**
* Indicates whether this calibrator requires quality scores for each
* measurement/sequence or not.
*
* @return true if quality scores are required, false otherwise.
*/
@Override
public boolean isQualityScoresRequired() {
return false;
}
}