RobustEasyGyroscopeCalibrator.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.ArrayUtils;
import com.irurueta.algebra.Matrix;
import com.irurueta.algebra.WrongSizeException;
import com.irurueta.geometry.InhomogeneousPoint3D;
import com.irurueta.geometry.Quaternion;
import com.irurueta.geometry.RotationException;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.NotReadyException;
import com.irurueta.navigation.inertial.BodyKinematics;
import com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig;
import com.irurueta.navigation.inertial.INSTightlyCoupledKalmanInitializerConfig;
import com.irurueta.navigation.inertial.calibration.AccelerationFixer;
import com.irurueta.navigation.inertial.calibration.AngularRateFixer;
import com.irurueta.navigation.inertial.calibration.AngularSpeedTriad;
import com.irurueta.navigation.inertial.calibration.BodyKinematicsSequence;
import com.irurueta.navigation.inertial.calibration.CalibrationException;
import com.irurueta.navigation.inertial.calibration.GyroscopeBiasUncertaintySource;
import com.irurueta.navigation.inertial.calibration.GyroscopeCalibrationSource;
import com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics;
import com.irurueta.numerical.robust.InliersData;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import com.irurueta.units.Acceleration;
import com.irurueta.units.AccelerationConverter;
import com.irurueta.units.AccelerationUnit;
import com.irurueta.units.AngularSpeed;
import com.irurueta.units.AngularSpeedConverter;
import com.irurueta.units.AngularSpeedUnit;
import java.util.ArrayList;
import java.util.List;
/**
* This is an abstract class to robustly estimate gyroscope
* biases, cross couplings and scaling factors
* along with G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
* <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 abstract class RobustEasyGyroscopeCalibrator implements GyroscopeNonLinearCalibrator,
UnknownBiasGyroscopeCalibrator, GyroscopeCalibrationSource, GyroscopeBiasUncertaintySource,
OrderedBodyKinematicsSequenceGyroscopeCalibrator, QualityScoredGyroscopeCalibrator,
AccelerometerDependentGyroscopeCalibrator {
/**
* Indicates whether by default a common z-axis is assumed for both the accelerometer
* and gyroscope.
*/
public static final boolean DEFAULT_USE_COMMON_Z_AXIS = true;
/**
* Indicates that by default G-dependent cross biases introduced
* by the accelerometer on the gyroscope are estimated.
*/
public static final boolean DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES = true;
/**
* Default robust estimator method when none is provided.
*/
public static final RobustEstimatorMethod DEFAULT_ROBUST_METHOD = RobustEstimatorMethod.LMEDS;
/**
* Indicates that result is refined by default using a non-linear calibrator
* (which uses a Levenberg-Marquardt fitter).
*/
public static final boolean DEFAULT_REFINE_RESULT = true;
/**
* Indicates that covariance is kept by default after refining result.
*/
public static final boolean DEFAULT_KEEP_COVARIANCE = true;
/**
* Default amount of progress variation before notifying a change in estimation progress.
* By default this is set to 5%.
*/
public static final float DEFAULT_PROGRESS_DELTA = 0.05f;
/**
* Minimum allowed value for progress delta.
*/
public static final float MIN_PROGRESS_DELTA = 0.0f;
/**
* Maximum allowed value for progress delta.
*/
public static final float MAX_PROGRESS_DELTA = 1.0f;
/**
* Constant defining default confidence of the estimated result, which is
* 99%. This means that with a probability of 99% estimation will be
* accurate because chosen sub-samples will be inliers.
*/
public static final double DEFAULT_CONFIDENCE = 0.99;
/**
* Default maximum allowed number of iterations.
*/
public static final int DEFAULT_MAX_ITERATIONS = 5000;
/**
* Minimum allowed confidence value.
*/
public static final double MIN_CONFIDENCE = 0.0;
/**
* Maximum allowed confidence value.
*/
public static final double MAX_CONFIDENCE = 1.0;
/**
* Minimum allowed number of iterations.
*/
public static final int MIN_ITERATIONS = 1;
/**
* Known x-coordinate of accelerometer bias to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*/
private double accelerometerBiasX;
/**
* Known y-coordinate of accelerometer bias to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*/
private double accelerometerBiasY;
/**
* Known z-coordinate of accelerometer bias to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*/
private double accelerometerBiasZ;
/**
* Known accelerometer x scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerSx;
/**
* Known accelerometer y scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerSy;
/**
* Known accelerometer z scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerSz;
/**
* Known accelerometer x-y cross coupling error to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerMxy;
/**
* Know accelerometer x-z cross coupling error to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerMxz;
/**
* Known accelerometer y-x cross coupling error to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerMyx;
/**
* Known accelerometer y-z cross coupling error to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerMyz;
/**
* Known accelerometer z-x cross coupling error to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerMzx;
/**
* Known accelerometer z-y cross coupling error to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*/
private double accelerometerMzy;
/**
* Initial x-coordinate of gyroscope bias to be used to find a solution.
* This is expressed in radians per second (rad/s).
*/
private double initialBiasX;
/**
* Initial y-coordinate of gyroscope bias to be used to find a solution.
* This is expressed in radians per second (rad/s).
*/
private double initialBiasY;
/**
* Initial z-coordinate of gyroscope bias to be used to find a solution.
* This is expressed in radians per second (rad/s).
*/
private double initialBiasZ;
/**
* Initial gyroscope x scaling factor.
*/
private double initialSx;
/**
* Initial gyroscope y scaling factor.
*/
private double initialSy;
/**
* Initial gyroscope z scaling factor.
*/
private double initialSz;
/**
* Initial gyroscope x-y cross coupling error.
*/
private double initialMxy;
/**
* Initial gyroscope x-z cross coupling error.
*/
private double initialMxz;
/**
* Initial gyroscope y-x cross coupling error.
*/
private double initialMyx;
/**
* Initial gyroscope y-z cross coupling error.
*/
private double initialMyz;
/**
* Initial gyroscope z-x cross coupling error.
*/
private double initialMzx;
/**
* Initial gyroscope z-y cross coupling error.
*/
private double initialMzy;
/**
* Initial G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
*/
private Matrix initialGg;
/**
* Contains a collection of sequences of timestamped body kinematics
* measurements taken at a given position where the device moves freely
* with different orientations.
*/
protected List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences;
/**
* This flag indicates whether z-axis is assumed to be common for accelerometer
* and gyroscope.
* When enabled, this eliminates 3 variables from Mg matrix.
*/
private boolean commonAxisUsed = DEFAULT_USE_COMMON_Z_AXIS;
/**
* This flag indicates whether G-dependent cross biases are being
* estimated or not.
* When enabled, this adds 9 variables from Gg matrix.
*/
private boolean estimateGDependentCrossBiases = DEFAULT_ESTIMATE_G_DEPENDENT_CROSS_BIASES;
/**
* Listener to be notified of events such as when calibration starts, ends or its
* progress significantly changes.
*/
protected RobustEasyGyroscopeCalibratorListener listener;
/**
* Estimated angular rate biases for each IMU axis expressed in radians per
* second (rad/s).
*/
private double[] estimatedBiases;
/**
* Estimated gyroscope scale factors and cross coupling errors.
* This is the product of matrix Tg containing cross coupling errors and Kg
* containing scaling factors.
* So that:
* <pre>
* Mg = [sx mxy mxz] = Tg*Kg
* [myx sy myz]
* [mzx mzy sz ]
* </pre>
* Where:
* <pre>
* Kg = [sx 0 0 ]
* [0 sy 0 ]
* [0 0 sz]
* </pre>
* and
* <pre>
* Tg = [1 -alphaXy alphaXz ]
* [alphaYx 1 -alphaYz]
* [-alphaZx alphaZy 1 ]
* </pre>
* Hence:
* <pre>
* Mg = [sx mxy mxz] = Tg*Kg = [sx -sy * alphaXy sz * alphaXz ]
* [myx sy myz] [sx * alphaYx sy -sz * alphaYz]
* [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
* </pre>
* This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
* are considered to be zero if the gyroscope z-axis is assumed to be the same
* as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
* becomes upper diagonal:
* <pre>
* Mg = [sx mxy mxz]
* [0 sy myz]
* [0 0 sz ]
* </pre>
* Values of this matrix are unit-less.
*/
private Matrix estimatedMg;
/**
* Estimated G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
* This instance allows any 3x3 matrix.
*/
private Matrix estimatedGg;
/**
* Estimated covariance matrix for estimated parameters.
*/
private Matrix estimatedCovariance;
/**
* Estimated chi square value.
*/
private double estimatedChiSq;
/**
* Estimated degrees of freedom of chi square value. Degrees of freedom is equal to the number of sampled data
* minus the number of estimated parameters.
*/
private int estimatedChiSqDegreesOfFreedom;
/**
* Estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of
* freedom. Ideally this value should be close to 1.0.
*/
private double estimatedReducedChiSq;
/**
* Estimated mean square error respect to provided measurements.
*/
private double estimatedMse;
/**
* Estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller
* the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the
* smaller the chance of finding a smaller chi square value, then the better the estimated fit is.
*/
private double estimatedP;
/**
* Estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is,
* the better the fit that has been estimated.
*/
private double estimatedQ;
/**
* Indicates whether calibrator is running.
*/
protected boolean running;
/**
* Amount of progress variation before notifying a progress change during calibration.
*/
protected float progressDelta = DEFAULT_PROGRESS_DELTA;
/**
* Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent
* to 100%). The amount of confidence indicates the probability that the estimated
* result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
*/
protected double confidence = DEFAULT_CONFIDENCE;
/**
* Maximum allowed number of iterations. When the maximum number of iterations is
* exceeded, result will not be available, however an approximate result will be
* available for retrieval.
*/
protected int maxIterations = DEFAULT_MAX_ITERATIONS;
/**
* Data related to inliers found after calibration.
*/
protected InliersData inliersData;
/**
* Indicates whether result must be refined using a non linear calibrator over
* found inliers.
* If true, inliers will be computed and kept in any implementation regardless of the
* settings.
*/
protected boolean refineResult = DEFAULT_REFINE_RESULT;
/**
* Size of subsets to be checked during robust estimation.
*/
protected int preliminarySubsetSize = EasyGyroscopeCalibrator.MINIMUM_SEQUENCES_GENERAL_AND_CROSS_BIASES;
/**
* Indicates whether covariance must be kept after refining result.
* This setting is only taken into account if result is refined.
*/
private boolean keepCovariance = DEFAULT_KEEP_COVARIANCE;
/**
* Inner non-robust calibrator.
*/
private final EasyGyroscopeCalibrator innerCalibrator = new EasyGyroscopeCalibrator();
/**
* Contains normalized start gravity coordinates.
* This is reused when computing error residuals.
*/
private final InhomogeneousPoint3D startPoint = new InhomogeneousPoint3D();
/**
* Contains estimated normalized end gravity coordinates.
* This is reused when computing error residuals.
*/
private final InhomogeneousPoint3D endPoint = new InhomogeneousPoint3D();
/**
* Contains expected normalized end gravity coordinates.
* This is reused when computing error residuals.
*/
private final InhomogeneousPoint3D expectedEndPoint = new InhomogeneousPoint3D();
/**
* Contains amount of rotation for a given sequence and preliminary
* solution.
* This is reused when computing error residuals.
*/
private final Quaternion q = new Quaternion();
/**
* Array containing measured specific force coordinates.
* This is reused when computing error residuals.
*/
private final double[] measuredSpecificForce = new double[BodyKinematics.COMPONENTS];
/**
* Array containing fixed specific force coordinates.
* This is reused when computing error residuals.
*/
private final double[] fixedSpecificForce = new double[BodyKinematics.COMPONENTS];
/**
* Array containing measured angular rate coordinates.
* This is reused when computing error residuals.
*/
private final double[] measuredAngularRate = new double[BodyKinematics.COMPONENTS];
/**
* Array containing fixed angular rate coordinates.
* This is reused when computing error residuals.
*/
private final double[] fixedAngularRate = new double[BodyKinematics.COMPONENTS];
/**
* An acceleration fixer.
* This is reused when computing error residuals.
*/
private final AccelerationFixer accelerationFixer = new AccelerationFixer();
/**
* An angular rate fixer.
* This is reused when computing error residuals.
*/
private final AngularRateFixer angularRateFixer = new AngularRateFixer();
/**
* Constructor.
*/
protected RobustEasyGyroscopeCalibrator() {
try {
initialGg = new Matrix(BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
} catch (final WrongSizeException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg) {
this();
this.sequences = sequences;
try {
setInitialBias(initialBias);
setInitialMg(initialMg);
setInitialGg(initialGg);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, initialBias, initialMg, initialGg);
this.listener = listener;
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg) {
this();
this.sequences = sequences;
try {
setInitialBias(initialBias);
setInitialMg(initialMg);
setInitialGg(initialGg);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, initialBias, initialMg, initialGg);
this.listener = listener;
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa) {
this(sequences, initialBias, initialMg, initialGg);
try {
setAccelerometerBias(accelerometerBias);
setAccelerometerMa(accelerometerMa);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
this.listener = listener;
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
this(sequences, initialBias, initialMg, initialGg);
try {
setAccelerometerBias(accelerometerBias);
setAccelerometerMa(accelerometerMa);
} catch (final LockedException ignore) {
// never happens
}
}
/**
* Constructor.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
this.listener = 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg) {
this(sequences, initialBias, initialMg, initialGg);
this.commonAxisUsed = commonAxisUsed;
this.estimateGDependentCrossBiases = estimateGDependentCrossBiases;
}
/**
* 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
this.listener = 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg) {
this(sequences, initialBias, initialMg, initialGg);
this.commonAxisUsed = commonAxisUsed;
this.estimateGDependentCrossBiases = estimateGDependentCrossBiases;
}
/**
* 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
this.listener = 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
this(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
this.commonAxisUsed = commonAxisUsed;
this.estimateGDependentCrossBiases = estimateGDependentCrossBiases;
}
/**
* 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
this.listener = 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
this(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa);
this.commonAxisUsed = commonAxisUsed;
this.estimateGDependentCrossBiases = estimateGDependentCrossBiases;
}
/**
* 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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
*/
protected RobustEasyGyroscopeCalibrator(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener) {
this(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
this.listener = listener;
}
/**
* Gets known x-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @return known x-coordinate of accelerometer bias.
*/
@Override
public double getAccelerometerBiasX() {
return accelerometerBiasX;
}
/**
* Sets known x-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param accelerometerBiasX known x-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBiasX(final double accelerometerBiasX) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasX = accelerometerBiasX;
}
/**
* Gets known y-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @return known y-coordinate of accelerometer bias.
*/
@Override
public double getAccelerometerBiasY() {
return accelerometerBiasY;
}
/**
* Sets known y-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param accelerometerBiasY known y-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBiasY(final double accelerometerBiasY) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasY = accelerometerBiasY;
}
/**
* Gets known z-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @return known z-coordinate of accelerometer bias.
*/
@Override
public double getAccelerometerBiasZ() {
return accelerometerBiasZ;
}
/**
* Sets known z-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param accelerometerBiasZ known z-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBiasZ(final double accelerometerBiasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasZ = accelerometerBiasZ;
}
/**
* Gets known x-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known x-coordinate of accelerometer bias.
*/
@Override
public Acceleration getAccelerometerBiasXAsAcceleration() {
return new Acceleration(accelerometerBiasX, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Gets known x-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param result instance where result data will be stored.
*/
@Override
public void getAccelerometerBiasXAsAcceleration(final Acceleration result) {
result.setValue(accelerometerBiasX);
result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Sets known x-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerBiasX x-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBiasX(final Acceleration accelerometerBiasX) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasX = convertAcceleration(accelerometerBiasX);
}
/**
* Gets known y-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known y-coordinate of accelerometer bias.
*/
@Override
public Acceleration getAccelerometerBiasYAsAcceleration() {
return new Acceleration(accelerometerBiasY, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Gets known y-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param result instance where result data will be stored.
*/
@Override
public void getAccelerometerBiasYAsAcceleration(final Acceleration result) {
result.setValue(accelerometerBiasY);
result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Sets known y-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerBiasY y-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBiasY(final Acceleration accelerometerBiasY) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasY = convertAcceleration(accelerometerBiasY);
}
/**
* Gets known z-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known z-coordinate of accelerometer bias.
*/
@Override
public Acceleration getAccelerometerBiasZAsAcceleration() {
return new Acceleration(accelerometerBiasZ, AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Gets known z-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param result instance where result data will be stored.
*/
@Override
public void getAccelerometerBiasZAsAcceleration(final Acceleration result) {
result.setValue(accelerometerBiasZ);
result.setUnit(AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Sets known z-coordinate of accelerometer bias to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerBiasZ z-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBiasZ(final Acceleration accelerometerBiasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
}
/**
* Sets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param accelerometerBiasX x-coordinate of accelerometer bias.
* @param accelerometerBiasY y-coordinate of accelerometer bias.
* @param accelerometerBiasZ z-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBias(
final double accelerometerBiasX, final double accelerometerBiasY, final double accelerometerBiasZ)
throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasX = accelerometerBiasX;
this.accelerometerBiasY = accelerometerBiasY;
this.accelerometerBiasZ = accelerometerBiasZ;
}
/**
* Sets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
*
* @param accelerometerBiasX x-coordinate of accelerometer bias.
* @param accelerometerBiasY y-coordinate of accelerometer bias.
* @param accelerometerBiasZ z-coordinate of accelerometer bias.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerBias(
final Acceleration accelerometerBiasX, final Acceleration accelerometerBiasY,
final Acceleration accelerometerBiasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerBiasX = convertAcceleration(accelerometerBiasX);
this.accelerometerBiasY = convertAcceleration(accelerometerBiasY);
this.accelerometerBiasZ = convertAcceleration(accelerometerBiasZ);
}
/**
* Gets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @return known accelerometer bias.
*/
@Override
public double[] getAccelerometerBias() {
final var result = new double[BodyKinematics.COMPONENTS];
getAccelerometerBias(result);
return result;
}
/**
* Gets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param result instance where result data will be copied to.
* @throws IllegalArgumentException if provided array does not have
* length 3.
*/
@Override
public void getAccelerometerBias(final double[] result) {
if (result.length != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
result[0] = accelerometerBiasX;
result[1] = accelerometerBiasY;
result[2] = accelerometerBiasZ;
}
/**
* Sets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param accelerometerBias known accelerometer bias.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided array does not have
* length 3.
*/
@Override
public void setAccelerometerBias(final double[] accelerometerBias) throws LockedException {
if (running) {
throw new LockedException();
}
if (accelerometerBias.length != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
accelerometerBiasX = accelerometerBias[0];
accelerometerBiasY = accelerometerBias[1];
accelerometerBiasZ = accelerometerBias[2];
}
/**
* Gets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @return known accelerometer bias.
*/
@Override
public Matrix getAccelerometerBiasAsMatrix() {
Matrix result;
try {
result = new Matrix(BodyKinematics.COMPONENTS, 1);
getAccelerometerBiasAsMatrix(result);
} catch (final WrongSizeException ignore) {
// never happens
result = null;
}
return result;
}
/**
* Gets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param result instance where result data will be copied to.
* @throws IllegalArgumentException if provided matrix is not 3x1.
*/
@Override
public void getAccelerometerBiasAsMatrix(final Matrix result) {
if (result.getRows() != BodyKinematics.COMPONENTS || result.getColumns() != 1) {
throw new IllegalArgumentException();
}
result.setElementAtIndex(0, accelerometerBiasX);
result.setElementAtIndex(1, accelerometerBiasY);
result.setElementAtIndex(2, accelerometerBiasZ);
}
/**
* Sets known accelerometer bias to be used to fix measured specific
* force and find cross biases introduced by the accelerometer.
* This is expressed in meters per squared second (m/s^2).
*
* @param accelerometerBias known accelerometer bias. Must be 3x1.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided matrix is not 3x1.
*/
@Override
public void setAccelerometerBias(final Matrix accelerometerBias) throws LockedException {
if (running) {
throw new LockedException();
}
if (accelerometerBias.getRows() != BodyKinematics.COMPONENTS || accelerometerBias.getColumns() != 1) {
throw new IllegalArgumentException();
}
accelerometerBiasX = accelerometerBias.getElementAtIndex(0);
accelerometerBiasY = accelerometerBias.getElementAtIndex(1);
accelerometerBiasZ = accelerometerBias.getElementAtIndex(2);
}
/**
* Gets known accelerometer x scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*
* @return known accelerometer x scaling factor.
*/
@Override
public double getAccelerometerSx() {
return accelerometerSx;
}
/**
* Sets known accelerometer x scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*
* @param accelerometerSx known accelerometer x scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerSx(final double accelerometerSx) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerSx = accelerometerSx;
}
/**
* Gets known accelerometer y scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*
* @return known accelerometer y scaling factor.
*/
@Override
public double getAccelerometerSy() {
return accelerometerSy;
}
/**
* Sets known accelerometer y scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*
* @param accelerometerSy known accelerometer y scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerSy(final double accelerometerSy) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerSy = accelerometerSy;
}
/**
* Gets known accelerometer z scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*
* @return known accelerometer z scaling factor.
*/
@Override
public double getAccelerometerSz() {
return accelerometerSz;
}
/**
* Sets known accelerometer z scaling factor to be used to fix measured
* specific force and find cross biases introduced by the accelerometer.
*
* @param accelerometerSz known accelerometer z scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerSz(final double accelerometerSz) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerSz = accelerometerSz;
}
/**
* Gets known accelerometer x-y cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known accelerometer x-y cross coupling error.
*/
@Override
public double getAccelerometerMxy() {
return accelerometerMxy;
}
/**
* Sets known accelerometer x-y cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerMxy known accelerometer x-y cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerMxy(final double accelerometerMxy) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerMxy = accelerometerMxy;
}
/**
* Gets known accelerometer x-z cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known accelerometer x-z cross coupling error.
*/
@Override
public double getAccelerometerMxz() {
return accelerometerMxz;
}
/**
* Sets known accelerometer x-z cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerMxz known accelerometer x-z cross coupling error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerMxz(final double accelerometerMxz) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerMxz = accelerometerMxz;
}
/**
* Gets known accelerometer y-x cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known accelerometer y-x cross coupling error.
*/
@Override
public double getAccelerometerMyx() {
return accelerometerMyx;
}
/**
* Sets known accelerometer y-x cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerMyx known accelerometer y-x cross coupling
* error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerMyx(final double accelerometerMyx) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerMyx = accelerometerMyx;
}
/**
* Gets known accelerometer y-z cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known accelerometer y-z cross coupling error.
*/
@Override
public double getAccelerometerMyz() {
return accelerometerMyz;
}
/**
* Sets known accelerometer y-z cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerMyz known accelerometer y-z cross coupling
* error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerMyz(final double accelerometerMyz) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerMyz = accelerometerMyz;
}
/**
* Gets known accelerometer z-x cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known accelerometer z-x cross coupling error.
*/
@Override
public double getAccelerometerMzx() {
return accelerometerMzx;
}
/**
* Sets known accelerometer z-x cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerMzx known accelerometer z-x cross coupling
* error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerMzx(final double accelerometerMzx) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerMzx = accelerometerMzx;
}
/**
* Gets known accelerometer z-y cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @return known accelerometer z-y cross coupling error.
*/
@Override
public double getAccelerometerMzy() {
return accelerometerMzy;
}
/**
* Sets known accelerometer z-y cross coupling error to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerMzy known accelerometer z-y cross coupling
* error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerMzy(final double accelerometerMzy) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerMzy = accelerometerMzy;
}
/**
* Sets known accelerometer scaling factors to be used to fix measured
* specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerSx known accelerometer x scaling factor.
* @param accelerometerSy known accelerometer y scaling factor.
* @param accelerometerSz known accelerometer z scaling factor.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerScalingFactors(
final double accelerometerSx, final double accelerometerSy, final double accelerometerSz)
throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerSx = accelerometerSx;
this.accelerometerSy = accelerometerSy;
this.accelerometerSz = accelerometerSz;
}
/**
* Sets known accelerometer cross coupling errors to be used to fix
* measured specific force and find cross biases introduced by the
* accelerometer.
*
* @param accelerometerMxy known accelerometer x-y cross coupling
* error.
* @param accelerometerMxz known accelerometer x-z cross coupling
* error.
* @param accelerometerMyx known accelerometer y-x cross coupling
* error.
* @param accelerometerMyz known accelerometer y-z cross coupling
* error.
* @param accelerometerMzx known accelerometer z-x cross coupling
* error.
* @param accelerometerMzy known accelerometer z-y cross coupling
* error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerCrossCouplingErrors(
final double accelerometerMxy, final double accelerometerMxz,
final double accelerometerMyx, final double accelerometerMyz,
final double accelerometerMzx, final double accelerometerMzy) throws LockedException {
if (running) {
throw new LockedException();
}
this.accelerometerMxy = accelerometerMxy;
this.accelerometerMxz = accelerometerMxz;
this.accelerometerMyx = accelerometerMyx;
this.accelerometerMyz = accelerometerMyz;
this.accelerometerMzx = accelerometerMzx;
this.accelerometerMzy = accelerometerMzy;
}
/**
* Sets known accelerometer scaling factors and cross coupling errors
* to be used to fix measured specific force and find cross biases
* introduced by the accelerometer.
*
* @param accelerometerSx known accelerometer x scaling factor.
* @param accelerometerSy known accelerometer y scaling factor.
* @param accelerometerSz known accelerometer z scaling factor.
* @param accelerometerMxy known accelerometer x-y cross coupling
* error.
* @param accelerometerMxz known accelerometer x-z cross coupling
* error.
* @param accelerometerMyx known accelerometer y-x cross coupling
* error.
* @param accelerometerMyz known accelerometer y-z cross coupling
* error.
* @param accelerometerMzx known accelerometer z-x cross coupling
* error.
* @param accelerometerMzy known accelerometer z-y cross coupling
* error.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setAccelerometerScalingFactorsAndCrossCouplingErrors(
final double accelerometerSx, final double accelerometerSy, final double accelerometerSz,
final double accelerometerMxy, final double accelerometerMxz, final double accelerometerMyx,
final double accelerometerMyz, final double accelerometerMzx, final double accelerometerMzy)
throws LockedException {
if (running) {
throw new LockedException();
}
setAccelerometerScalingFactors(accelerometerSx, accelerometerSy, accelerometerSz);
setAccelerometerCrossCouplingErrors(accelerometerMxy, accelerometerMxz, accelerometerMyx,
accelerometerMyz, accelerometerMzx, accelerometerMzy);
}
/**
* Gets known accelerometer scale factors and cross coupling
* errors matrix.
*
* @return known accelerometer scale factors and cross coupling
* errors matrix.
*/
@Override
public Matrix getAccelerometerMa() {
Matrix result;
try {
result = new Matrix(BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
getAccelerometerMa(result);
} catch (final WrongSizeException ignore) {
// never happens
result = null;
}
return result;
}
/**
* Gets known accelerometer scale factors and cross coupling
* errors matrix.
*
* @param result instance where data will be stored.
* @throws IllegalArgumentException if provided matrix is not 3x3.
*/
@Override
public void getAccelerometerMa(final Matrix result) {
if (result.getRows() != BodyKinematics.COMPONENTS || result.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
result.setElementAtIndex(0, accelerometerSx);
result.setElementAtIndex(1, accelerometerMyx);
result.setElementAtIndex(2, accelerometerMzx);
result.setElementAtIndex(3, accelerometerMxy);
result.setElementAtIndex(4, accelerometerSy);
result.setElementAtIndex(5, accelerometerMzy);
result.setElementAtIndex(6, accelerometerMxz);
result.setElementAtIndex(7, accelerometerMyz);
result.setElementAtIndex(8, accelerometerSz);
}
/**
* Sets known accelerometer scale factors and cross coupling
* errors matrix.
*
* @param accelerometerMa known accelerometer scale factors and
* cross coupling errors matrix. Must be 3x3.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided matrix is not 3x3.
*/
@Override
public void setAccelerometerMa(final Matrix accelerometerMa) throws LockedException {
if (running) {
throw new LockedException();
}
if (accelerometerMa.getRows() != BodyKinematics.COMPONENTS
|| accelerometerMa.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
accelerometerSx = accelerometerMa.getElementAtIndex(0);
accelerometerMyx = accelerometerMa.getElementAtIndex(1);
accelerometerMzx = accelerometerMa.getElementAtIndex(2);
accelerometerMxy = accelerometerMa.getElementAtIndex(3);
accelerometerSy = accelerometerMa.getElementAtIndex(4);
accelerometerMzy = accelerometerMa.getElementAtIndex(5);
accelerometerMxz = accelerometerMa.getElementAtIndex(6);
accelerometerMyz = accelerometerMa.getElementAtIndex(7);
accelerometerSz = accelerometerMa.getElementAtIndex(8);
}
/**
* Gets initial x-coordinate of gyroscope bias to be used to find
* a solution.
* This is expressed in radians per second (rad/s).
*
* @return initial x-coordinate of gyroscope bias.
*/
public double getInitialBiasX() {
return initialBiasX;
}
/**
* Sets initial x-coordinate of gyroscope bias to be used to find
* a solution.
* This is expressed in radians per second (rad/s).
*
* @param initialBiasX initial x-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBiasX(final double initialBiasX) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasX = initialBiasX;
}
/**
* Gets initial y-coordinate of gyroscope bias to be used to find
* a solution.
* This is expressed in radians per second (rad/s).
*
* @return initial y-coordinate of gyroscope bias.
*/
public double getInitialBiasY() {
return initialBiasY;
}
/**
* Sets initial y-coordinate of gyroscope bias to be used to find
* a solution.
* This is expressed in radians per second (rad/s).
*
* @param initialBiasY initial y-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBiasY(final double initialBiasY) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasY = initialBiasY;
}
/**
* Gets initial z-coordinate of gyroscope bias ot be used to find
* a solution.
* This is expressed in radians per second (rad/s).
*
* @return initial z-coordinate of gyroscope bias.
*/
public double getInitialBiasZ() {
return initialBiasZ;
}
/**
* Sets initial z-coordinate of gyroscope bias to be used to find
* a solution.
* This is expressed in radians per second (rad/s).
*
* @param initialBiasZ initial z-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBiasZ(final double initialBiasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasZ = initialBiasZ;
}
/**
* Gets initial x-coordinate of gyroscope bias to be used to find a
* solution.
*
* @return initial x-coordinate of gyroscope bias.
*/
public AngularSpeed getInitialBiasAngularSpeedX() {
return new AngularSpeed(initialBiasX, AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Gets initial x-coordinate of gyroscope bias to be used to find a
* solution.
*
* @param result instance where result data will be stored.
*/
public void getInitialBiasAngularSpeedX(final AngularSpeed result) {
result.setValue(initialBiasX);
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Sets initial x-coordinate of gyroscope bias to be used to find a
* solution.
*
* @param initialBiasX initial x-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBiasX(final AngularSpeed initialBiasX) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasX = convertAngularSpeed(initialBiasX);
}
/**
* Gets initial y-coordinate of gyroscope bias to be used to find a
* solution.
*
* @return initial y-coordinate of gyroscope bias.
*/
public AngularSpeed getInitialBiasAngularSpeedY() {
return new AngularSpeed(initialBiasY, AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Gets initial y-coordinate of gyroscope bias to be used to find a
* solution.
*
* @param result instance where result data will be stored.
*/
public void getInitialBiasAngularSpeedY(final AngularSpeed result) {
result.setValue(initialBiasY);
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Sets initial y-coordinate of gyroscope bias to be used to find a
* solution.
*
* @param initialBiasY initial y-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBiasY(final AngularSpeed initialBiasY) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasY = convertAngularSpeed(initialBiasY);
}
/**
* Gets initial z-coordinate of gyroscope bias to be used to find a
* solution.
*
* @return initial z-coordinate of gyroscope bias.
*/
public AngularSpeed getInitialBiasAngularSpeedZ() {
return new AngularSpeed(initialBiasZ, AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Gets initial z-coordinate of gyroscope bias to be used to find a
* solution.
*
* @param result instance where result data will be stored.
*/
public void getInitialBiasAngularSpeedZ(final AngularSpeed result) {
result.setValue(initialBiasZ);
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Sets initial z-coordinate of gyroscope bias to be used to find a
* solution.
*
* @param initialBiasZ initial z-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBiasZ(final AngularSpeed initialBiasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasZ = convertAngularSpeed(initialBiasZ);
}
/**
* Sets initial bias coordinates of gyroscope used to find a solution
* expressed in radians per second (rad/s).
*
* @param initialBiasX initial x-coordinate of gyroscope bias.
* @param initialBiasY initial y-coordinate of gyroscope bias.
* @param initialBiasZ initial z-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBias(
final double initialBiasX, final double initialBiasY, final double initialBiasZ) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasX = initialBiasX;
this.initialBiasY = initialBiasY;
this.initialBiasZ = initialBiasZ;
}
/**
* Sets initial bias coordinates of gyroscope used to find a solution.
*
* @param initialBiasX initial x-coordinate of gyroscope bias.
* @param initialBiasY initial y-coordinate of gyroscope bias.
* @param initialBiasZ initial z-coordinate of gyroscope bias.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBias(
final AngularSpeed initialBiasX, final AngularSpeed initialBiasY, final AngularSpeed initialBiasZ)
throws LockedException {
if (running) {
throw new LockedException();
}
this.initialBiasX = convertAngularSpeed(initialBiasX);
this.initialBiasY = convertAngularSpeed(initialBiasY);
this.initialBiasZ = convertAngularSpeed(initialBiasZ);
}
/**
* Gets initial x scaling factor of gyroscope.
*
* @return initial x scaling factor of gyroscope.
*/
@Override
public double getInitialSx() {
return initialSx;
}
/**
* Sets initial x scaling factor of gyroscope.
*
* @param initialSx initial x scaling factor of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialSx(final double initialSx) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSx = initialSx;
}
/**
* Gets initial y scaling factor of gyroscope.
*
* @return initial y scaling factor of gyroscope.
*/
@Override
public double getInitialSy() {
return initialSy;
}
/**
* Sets initial y scaling factor of gyroscope.
*
* @param initialSy initial y scaling factor of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialSy(final double initialSy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSy = initialSy;
}
/**
* Gets initial z scaling factor of gyroscope.
*
* @return initial z scaling factor of gyroscope.
*/
@Override
public double getInitialSz() {
return initialSz;
}
/**
* Sets initial z scaling factor of gyroscope.
*
* @param initialSz initial z scaling factor of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialSz(final double initialSz) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSz = initialSz;
}
/**
* Gets initial x-y cross coupling error of gyroscope.
*
* @return initial x-y cross coupling error of gyroscope.
*/
@Override
public double getInitialMxy() {
return initialMxy;
}
/**
* Sets initial x-y cross coupling error of gyroscope.
*
* @param initialMxy initial x-y cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMxy(final double initialMxy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMxy = initialMxy;
}
/**
* Gets initial x-z cross coupling error of gyroscope.
*
* @return initial x-z cross coupling error of gyroscope.
*/
@Override
public double getInitialMxz() {
return initialMxz;
}
/**
* Sets initial x-z cross coupling error of gyroscope.
*
* @param initialMxz initial x-z cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMxz(final double initialMxz) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMxz = initialMxz;
}
/**
* Gets initial y-x cross coupling error of gyroscope.
*
* @return initial y-x cross coupling error of gyroscope.
*/
@Override
public double getInitialMyx() {
return initialMyx;
}
/**
* Sets initial y-x cross coupling error of gyroscope.
*
* @param initialMyx initial y-x cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMyx(final double initialMyx) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMyx = initialMyx;
}
/**
* Gets initial y-z cross coupling error of gyroscope.
*
* @return initial y-z cross coupling error of gyroscope.
*/
@Override
public double getInitialMyz() {
return initialMyz;
}
/**
* Sets initial y-z cross coupling error of gyroscope.
*
* @param initialMyz initial y-z cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMyz(final double initialMyz) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMyz = initialMyz;
}
/**
* Gets initial z-x cross coupling error of gyroscope.
*
* @return initial z-x cross coupling error of gyroscope.
*/
@Override
public double getInitialMzx() {
return initialMzx;
}
/**
* Sets initial z-x cross coupling error of gyroscope.
*
* @param initialMzx initial z-x cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMzx(final double initialMzx) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMzx = initialMzx;
}
/**
* Gets initial z-y cross coupling error of gyroscope.
*
* @return initial z-y cross coupling error of gyroscope.
*/
@Override
public double getInitialMzy() {
return initialMzy;
}
/**
* Sets initial z-y cross coupling error of gyroscope.
*
* @param initialMzy initial z-y cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMzy(final double initialMzy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMzy = initialMzy;
}
/**
* Sets initial scaling factors of gyroscope.
*
* @param initialSx initial x scaling factor of gyroscope.
* @param initialSy initial y scaling factor of gyroscope.
* @param initialSz initial z scaling factor of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialScalingFactors(
final double initialSx, final double initialSy, final double initialSz) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialSx = initialSx;
this.initialSy = initialSy;
this.initialSz = initialSz;
}
/**
* Sets initial cross coupling errors of gyroscope.
*
* @param initialMxy initial x-y cross coupling error of gyroscope.
* @param initialMxz initial x-z cross coupling error of gyroscope.
* @param initialMyx initial y-x cross coupling error of gyroscope.
* @param initialMyz initial y-z cross coupling error of gyroscope.
* @param initialMzx initial z-x cross coupling error of gyroscope.
* @param initialMzy initial z-y cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialCrossCouplingErrors(
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) throws LockedException {
if (running) {
throw new LockedException();
}
this.initialMxy = initialMxy;
this.initialMxz = initialMxz;
this.initialMyx = initialMyx;
this.initialMyz = initialMyz;
this.initialMzx = initialMzx;
this.initialMzy = initialMzy;
}
/**
* Sets initial scaling factors and cross coupling errors of
* gyroscope.
*
* @param initialSx initial x scaling factor of gyroscope.
* @param initialSy initial y scaling factor of gyroscope.
* @param initialSz initial z scaling factor of gyroscope.
* @param initialMxy initial x-y cross coupling error of gyroscope.
* @param initialMxz initial x-z cross coupling error of gyroscope.
* @param initialMyx initial y-x cross coupling error of gyroscope.
* @param initialMyz initial y-z cross coupling error of gyroscope.
* @param initialMzx initial z-x cross coupling error of gyroscope.
* @param initialMzy initial z-y cross coupling error of gyroscope.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialScalingFactorsAndCrossCouplingErrors(
final double initialSx, final double initialSy, final double initialSz,
final double initialMxy, final double initialMxz, final double initialMyx,
final double initialMyz, final double initialMzx, final double initialMzy) throws LockedException {
if (running) {
throw new LockedException();
}
setInitialScalingFactors(initialSx, initialSy, initialSz);
setInitialCrossCouplingErrors(initialMxy, initialMxz, initialMyx, initialMyz, initialMzx, initialMzy);
}
/**
* Gets initial gyroscope bias to be used to find a solution as
* an array.
* Array values are expressed in radians per second (rad/s).
*
* @return array containing coordinates of initial gyroscope bias.
*/
public double[] getInitialBias() {
final double[] result = new double[BodyKinematics.COMPONENTS];
getInitialBias(result);
return result;
}
/**
* Gets initial gyroscope bias to be used to find a solution as
* an array.
* Array values are expressed in radians per second (rad/s).
*
* @param result instance where result data will be copied to.
* @throws IllegalArgumentException if provided array does not have length 3.
*/
public void getInitialBias(final double[] result) {
if (result.length != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
result[0] = initialBiasX;
result[1] = initialBiasY;
result[2] = initialBiasZ;
}
/**
* Sets initial gyroscope bias to be used to find a solution as
* an array.
* Array values are expressed in radians per second (rad/s).
*
* @param initialBias initial bias to find a solution.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided array does not have length 3.
*/
public void setInitialBias(final double[] initialBias) throws LockedException {
if (running) {
throw new LockedException();
}
if (initialBias.length != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
initialBiasX = initialBias[0];
initialBiasY = initialBias[1];
initialBiasZ = initialBias[2];
}
/**
* Gets initial gyroscope bias to be used to find a solution as a
* column matrix.
* Values are expressed in radians per second (rad/s).
*
* @return initial gyroscope bias to be used to find a solution as a
* column matrix.
*/
public Matrix getInitialBiasAsMatrix() {
Matrix result;
try {
result = new Matrix(BodyKinematics.COMPONENTS, 1);
getInitialBiasAsMatrix(result);
} catch (final WrongSizeException ignore) {
// never happens
result = null;
}
return result;
}
/**
* Gets initial gyroscope bias to be used to find a solution as a
* column matrix.
* Values are expressed in radians per second (rad/s).
*
* @param result instance where result data will be copied to.
* @throws IllegalArgumentException if provided matrix is not 3x1.
*/
public void getInitialBiasAsMatrix(final Matrix result) {
if (result.getRows() != BodyKinematics.COMPONENTS || result.getColumns() != 1) {
throw new IllegalArgumentException();
}
result.setElementAtIndex(0, initialBiasX);
result.setElementAtIndex(1, initialBiasY);
result.setElementAtIndex(2, initialBiasZ);
}
/**
* Sets initial gyroscope bias to be used to find a solution as
* a column matrix with values expressed in radians per second (rad/s).
*
* @param initialBias initial gyroscope bias to find a solution.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided matrix is not 3x1.
*/
public void setInitialBias(final Matrix initialBias) throws LockedException {
if (running) {
throw new LockedException();
}
if (initialBias.getRows() != BodyKinematics.COMPONENTS || initialBias.getColumns() != 1) {
throw new IllegalArgumentException();
}
initialBiasX = initialBias.getElementAtIndex(0);
initialBiasY = initialBias.getElementAtIndex(1);
initialBiasZ = initialBias.getElementAtIndex(2);
}
/**
* Gets initial bias coordinates of gyroscope used to find a solution.
*
* @return initial bias coordinates.
*/
public AngularSpeedTriad getInitialBiasAsTriad() {
return new AngularSpeedTriad(AngularSpeedUnit.RADIANS_PER_SECOND, initialBiasX, initialBiasY, initialBiasZ);
}
/**
* Gets initial bias coordinates of gyroscope used to find a solution.
*
* @param result instance where result will be stored.
*/
public void getInitialBiasAsTriad(AngularSpeedTriad result) {
result.setValueCoordinatesAndUnit(initialBiasX, initialBiasY, initialBiasZ,
AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Sets initial bias coordinates of gyroscope used to find a solution.
*
* @param initialBias initial bias coordinates to be set.
* @throws LockedException if calibrator is currently running.
*/
public void setInitialBias(AngularSpeedTriad initialBias) throws LockedException {
if (running) {
throw new LockedException();
}
initialBiasX = convertAngularSpeed(initialBias.getValueX(), initialBias.getUnit());
initialBiasY = convertAngularSpeed(initialBias.getValueY(), initialBias.getUnit());
initialBiasZ = convertAngularSpeed(initialBias.getValueZ(), initialBias.getUnit());
}
/**
* Gets initial gyroscope scale factors and cross coupling errors
* matrix.
*
* @return initial gyroscope scale factors and cross coupling errors
* matrix.
*/
@Override
public Matrix getInitialMg() {
Matrix result;
try {
result = new Matrix(BodyKinematics.COMPONENTS, BodyKinematics.COMPONENTS);
getInitialMg(result);
} catch (final WrongSizeException ignore) {
// never happens
result = null;
}
return result;
}
/**
* Gets initial gyroscope scale factors and cross coupling errors
* matrix.
*
* @param result instance where data will be stored.
* @throws IllegalArgumentException if provided matrix is not 3x3.
*/
@Override
public void getInitialMg(final Matrix result) {
if (result.getRows() != BodyKinematics.COMPONENTS || result.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
result.setElementAtIndex(0, initialSx);
result.setElementAtIndex(1, initialMyx);
result.setElementAtIndex(2, initialMzx);
result.setElementAtIndex(3, initialMxy);
result.setElementAtIndex(4, initialSy);
result.setElementAtIndex(5, initialMzy);
result.setElementAtIndex(6, initialMxz);
result.setElementAtIndex(7, initialMyz);
result.setElementAtIndex(8, initialSz);
}
/**
* Sets initial gyroscope scale factors and cross coupling errors matrix.
*
* @param initialMg initial scale factors and cross coupling errors matrix.
* @throws IllegalArgumentException if provided matrix is not 3x3.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setInitialMg(final Matrix initialMg) throws LockedException {
if (running) {
throw new LockedException();
}
if (initialMg.getRows() != BodyKinematics.COMPONENTS || initialMg.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
initialSx = initialMg.getElementAtIndex(0);
initialMyx = initialMg.getElementAtIndex(1);
initialMzx = initialMg.getElementAtIndex(2);
initialMxy = initialMg.getElementAtIndex(3);
initialSy = initialMg.getElementAtIndex(4);
initialMzy = initialMg.getElementAtIndex(5);
initialMxz = initialMg.getElementAtIndex(6);
initialMyz = initialMg.getElementAtIndex(7);
initialSz = initialMg.getElementAtIndex(8);
}
/**
* Gets initial G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
*
* @return a 3x3 matrix containing initial g-dependent cross biases.
*/
@Override
public Matrix getInitialGg() {
return new Matrix(initialGg);
}
/**
* Gets initial G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
*
* @param result instance where data will be stored.
* @throws IllegalArgumentException if provided matrix is not 3x3.
*/
@Override
public void getInitialGg(final Matrix result) {
if (result.getRows() != BodyKinematics.COMPONENTS || result.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
result.copyFrom(initialGg);
}
/**
* Sets initial G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
*
* @param initialGg g-dependent cross biases.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided matrix is not 3x3.
*/
@Override
public void setInitialGg(final Matrix initialGg) throws LockedException {
if (running) {
throw new LockedException();
}
if (initialGg.getRows() != BodyKinematics.COMPONENTS || initialGg.getColumns() != BodyKinematics.COMPONENTS) {
throw new IllegalArgumentException();
}
initialGg.copyTo(this.initialGg);
}
/**
* Gets collection of sequences of timestamped body kinematics
* measurements taken at a given position where the device moves freely
* with different orientations.
*
* @return collection of sequences of timestamped body kinematics
* measurements.
*/
@Override
public List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences() {
return sequences;
}
/**
* Sets collection of sequences of timestamped body kinematics
* measurements taken at a given position where the device moves freely
* with different orientations.
*
* @param sequences collection of sequences of timestamped body
* kinematics measurements.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setSequences(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences) throws LockedException {
if (running) {
throw new LockedException();
}
this.sequences = sequences;
}
/**
* Indicates the type of measurement or sequence used by this calibrator.
*
* @return type of measurement or sequence used by this calibrator.
*/
@Override
public GyroscopeCalibratorMeasurementOrSequenceType getMeasurementOrSequenceType() {
return GyroscopeCalibratorMeasurementOrSequenceType.BODY_KINEMATICS_SEQUENCE;
}
/**
* Indicates whether this calibrator requires ordered measurements or sequences
* in a list or not.
*
* @return true if measurements or sequences must be ordered, false otherwise.
*/
@Override
public boolean isOrderedMeasurementsOrSequencesRequired() {
return true;
}
/**
* Indicates whether z-axis is assumed to be common for accelerometer and
* gyroscope.
* When enabled, this eliminates 3 variables from Ma matrix.
*
* @return true if z-axis is assumed to be common for accelerometer and gyroscope,
* false otherwise.
*/
@Override
public boolean isCommonAxisUsed() {
return commonAxisUsed;
}
/**
* Specifies whether z-axis is assumed to be common for accelerometer and
* gyroscope.
* When enabled, this eliminates 3 variables from Ma matrix.
*
* @param commonAxisUsed true if z-axis is assumed to be common for accelerometer
* and gyroscope, false otherwise.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setCommonAxisUsed(final boolean commonAxisUsed) throws LockedException {
if (running) {
throw new LockedException();
}
this.commonAxisUsed = commonAxisUsed;
}
/**
* Indicates whether G-dependent cross biases are being estimated
* or not.
* When enabled, this adds 9 variables from Gg matrix.
*
* @return true if G-dependent cross biases will be estimated,
* false otherwise.
*/
public boolean isGDependentCrossBiasesEstimated() {
return estimateGDependentCrossBiases;
}
/**
* Specifies whether G-dependent cross biases are being estimated
* or not.
* When enabled, this adds 9 variables from Gg matrix.
*
* @param estimateGDependentCrossBiases true if G-dependent cross
* biases will be estimated,
* false otherwise.
* @throws LockedException if calibrator is currently running.
*/
public void setGDependentCrossBiasesEstimated(final boolean estimateGDependentCrossBiases) throws LockedException {
if (running) {
throw new LockedException();
}
this.estimateGDependentCrossBiases = estimateGDependentCrossBiases;
}
/**
* Gets listener to handle events raised by this estimator.
*
* @return listener to handle events raised by this estimator.
*/
public RobustEasyGyroscopeCalibratorListener getListener() {
return listener;
}
/**
* Sets listener to handle events raised by this estimator.
*
* @param listener listener to handle events raised by this estimator.
* @throws LockedException if calibrator is currently running.
*/
public void setListener(final RobustEasyGyroscopeCalibratorListener listener) throws LockedException {
if (running) {
throw new LockedException();
}
this.listener = listener;
}
/**
* Gets minimum number of required sequences.
*
* @return minimum number of required sequences.
*/
@Override
public int getMinimumRequiredMeasurementsOrSequences() {
if (commonAxisUsed) {
if (estimateGDependentCrossBiases) {
return EasyGyroscopeCalibrator.MINIMUM_SEQUENCES_COMMON_Z_AXIS_AND_CROSS_BIASES;
} else {
return EasyGyroscopeCalibrator.MINIMUM_SEQUENCES_COMMON_Z_AXIS;
}
} else {
if (estimateGDependentCrossBiases) {
return EasyGyroscopeCalibrator.MINIMUM_SEQUENCES_GENERAL_AND_CROSS_BIASES;
} else {
return EasyGyroscopeCalibrator.MINIMUM_SEQUENCES_GENERAL;
}
}
}
/**
* Indicates whether calibrator is ready to start.
*
* @return true if calibrator is ready, false otherwise.
*/
@Override
public boolean isReady() {
return sequences != null && sequences.size() >= getMinimumRequiredMeasurementsOrSequences();
}
/**
* Indicates whether calibrator is currently running or not.
*
* @return true if calibrator is running, false otherwise.
*/
@Override
public boolean isRunning() {
return running;
}
/**
* Returns amount of progress variation before notifying a progress change during
* calibration.
*
* @return amount of progress variation before notifying a progress change during
* calibration.
*/
public float getProgressDelta() {
return progressDelta;
}
/**
* Sets amount of progress variation before notifying a progress change during
* calibration.
*
* @param progressDelta amount of progress variation before notifying a progress
* change during calibration.
* @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
* @throws LockedException if calibrator is currently running.
*/
public void setProgressDelta(final float progressDelta) throws LockedException {
if (running) {
throw new LockedException();
}
if (progressDelta < MIN_PROGRESS_DELTA || progressDelta > MAX_PROGRESS_DELTA) {
throw new IllegalArgumentException();
}
this.progressDelta = progressDelta;
}
/**
* Returns amount of confidence expressed as a value between 0.0 and 1.0
* (which is equivalent to 100%). The amount of confidence indicates the probability
* that the estimated result is correct. Usually this value will be close to 1.0, but
* not exactly 1.0.
*
* @return amount of confidence as a value between 0.0 and 1.0.
*/
public double getConfidence() {
return confidence;
}
/**
* Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
* equivalent to 100%). The amount of confidence indicates the probability that
* the estimated result is correct. Usually this value will be close to 1.0, but
* not exactly 1.0.
*
* @param confidence confidence to be set as a value between 0.0 and 1.0.
* @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
* @throws LockedException if calibrator is currently running.
*/
public void setConfidence(final double confidence) throws LockedException {
if (running) {
throw new LockedException();
}
if (confidence < MIN_CONFIDENCE || confidence > MAX_CONFIDENCE) {
throw new IllegalArgumentException();
}
this.confidence = confidence;
}
/**
* Returns maximum allowed number of iterations. If maximum allowed number of
* iterations is achieved without converging to a result when calling calibrate(),
* a RobustEstimatorException will be raised.
*
* @return maximum allowed number of iterations.
*/
public int getMaxIterations() {
return maxIterations;
}
/**
* Sets maximum allowed number of iterations. When the maximum number of iterations
* is exceeded, result will not be available, however an approximate result will be
* available for retrieval.
*
* @param maxIterations maximum allowed number of iterations to be set.
* @throws IllegalArgumentException if provided value is less than 1.
* @throws LockedException if calibrator is currently running.
*/
public void setMaxIterations(final int maxIterations) throws LockedException {
if (running) {
throw new LockedException();
}
if (maxIterations < MIN_ITERATIONS) {
throw new IllegalArgumentException();
}
this.maxIterations = maxIterations;
}
/**
* Gets data related to inliers found after estimation.
*
* @return data related to inliers found after estimation.
*/
public InliersData getInliersData() {
return inliersData;
}
/**
* Indicates whether result must be refined using a non-linear solver over found inliers.
*
* @return true to refine result, false to simply use result found by robust estimator
* without further refining.
*/
public boolean isResultRefined() {
return refineResult;
}
/**
* Specifies whether result must be refined using a non-linear solver over found inliers.
*
* @param refineResult true to refine result, false to simply use result found by robust
* estimator without further refining.
* @throws LockedException if calibrator is currently running.
*/
public void setResultRefined(final boolean refineResult) throws LockedException {
if (running) {
throw new LockedException();
}
this.refineResult = refineResult;
}
/**
* Indicates whether covariance must be kept after refining result.
* This setting is only taken into account if result is refined.
*
* @return true if covariance must be kept after refining result, false otherwise.
*/
public boolean isCovarianceKept() {
return keepCovariance;
}
/**
* Specifies whether covariance must be kept after refining result.
* This setting is only taken into account if result is refined.
*
* @param keepCovariance true if covariance must be kept after refining result,
* false otherwise.
* @throws LockedException if calibrator is currently running.
*/
public void setCovarianceKept(final boolean keepCovariance) throws LockedException {
if (running) {
throw new LockedException();
}
this.keepCovariance = keepCovariance;
}
/**
* Returns quality scores corresponding to each sequence.
* The larger the score value the better the quality of the sample.
* This implementation always returns null.
* Subclasses using quality scores must implement proper behavior.
*
* @return quality scores corresponding to each sample.
*/
@Override
public double[] getQualityScores() {
return null;
}
/**
* Sets quality scores corresponding to each sequence.
* The larger the score value the better the quality of the sample.
* This implementation makes no action.
* Subclasses using quality scores must implement proper behaviour.
*
* @param qualityScores quality scores corresponding to each sample.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than minimum required samples.
* @throws LockedException if calibrator is currently running.
*/
@Override
public void setQualityScores(final double[] qualityScores) throws LockedException {
}
/**
* Gets array containing x,y,z components of estimated gyroscope biases
* expressed in radians per second (rad/s).
*
* @return array containing x,y,z components of estimated gyroscope biases.
*/
@Override
public double[] getEstimatedBiases() {
return estimatedBiases;
}
/**
* Gets array containing x,y,z components of estimated gyroscope biases
* expressed in radians per second (rad/s).
*
* @param result instance where estimated gyroscope biases will be stored.
* @return true if result instance was updated, false otherwise (when estimation
* is not yet available).
*/
@Override
public boolean getEstimatedBiases(final double[] result) {
if (estimatedBiases != null) {
System.arraycopy(estimatedBiases, 0, result, 0, estimatedBiases.length);
return true;
} else {
return false;
}
}
/**
* Gets column matrix containing x,y,z components of estimated gyroscope biases
* expressed in radians per second (rad/s).
*
* @return column matrix containing x,y,z components of estimated gyroscope
* biases.
*/
@Override
public Matrix getEstimatedBiasesAsMatrix() {
return estimatedBiases != null ? Matrix.newFromArray(estimatedBiases) : null;
}
/**
* Gets column matrix containing x,y,z components of estimated gyroscope biases
* expressed in radians per second (rad/s).
*
* @param result instance where result data will be stored.
* @return true if result was updated, false otherwise.
* @throws WrongSizeException if provided result instance has invalid size.
*/
@Override
public boolean getEstimatedBiasesAsMatrix(final Matrix result) throws WrongSizeException {
if (estimatedBiases != null) {
result.fromArray(estimatedBiases);
return true;
} else {
return false;
}
}
/**
* Gets x coordinate of estimated gyroscope bias expressed in radians per
* second (rad/s).
*
* @return x coordinate of estimated gyroscope bias or null if not available.
*/
@Override
public Double getEstimatedBiasX() {
return estimatedBiases != null ? estimatedBiases[0] : null;
}
/**
* Gets y coordinate of estimated gyroscope bias expressed in radians per
* second (rad/s).
*
* @return y coordinate of estimated gyroscope bias or null if not available.
*/
@Override
public Double getEstimatedBiasY() {
return estimatedBiases != null ? estimatedBiases[1] : null;
}
/**
* Gets z coordinate of estimated gyroscope bias expressed in radians per
* second (rad/s).
*
* @return z coordinate of estimated gyroscope bias or null if not available.
*/
@Override
public Double getEstimatedBiasZ() {
return estimatedBiases != null ? estimatedBiases[2] : null;
}
/**
* Gets x coordinate of estimated gyroscope bias.
*
* @return x coordinate of estimated gyroscope bias or null if not available.
*/
@Override
public AngularSpeed getEstimatedBiasAngularSpeedX() {
return estimatedBiases != null
? new AngularSpeed(estimatedBiases[0], AngularSpeedUnit.RADIANS_PER_SECOND) : null;
}
/**
* Gets x coordinate of estimated gyroscope bias.
*
* @param result instance where result will be stored.
* @return true if result was updated, false if estimation is not available.
*/
@Override
public boolean getEstimatedBiasAngularSpeedX(final AngularSpeed result) {
if (estimatedBiases != null) {
result.setValue(estimatedBiases[0]);
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets y coordinate of estimated gyroscope bias.
*
* @return y coordinate of estimated gyroscope bias or null if not available.
*/
@Override
public AngularSpeed getEstimatedBiasAngularSpeedY() {
return estimatedBiases != null
? new AngularSpeed(estimatedBiases[1], AngularSpeedUnit.RADIANS_PER_SECOND) : null;
}
/**
* Gets y coordinate of estimated gyroscope bias.
*
* @param result instance where result will be stored.
* @return true if result was updated, false if estimation is not available.
*/
@Override
public boolean getEstimatedBiasAngularSpeedY(final AngularSpeed result) {
if (estimatedBiases != null) {
result.setValue(estimatedBiases[1]);
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets z coordinate of estimated gyroscope bias.
*
* @return z coordinate of estimated gyroscope bias or null if not available.
*/
@Override
public AngularSpeed getEstimatedBiasAngularSpeedZ() {
return estimatedBiases != null
? new AngularSpeed(estimatedBiases[2], AngularSpeedUnit.RADIANS_PER_SECOND) : null;
}
/**
* Gets z coordinate of estimated gyroscope bias.
*
* @param result instance where result will be stored.
* @return true if result was updated, false if estimation is not available.
*/
@Override
public boolean getEstimatedBiasAngularSpeedZ(final AngularSpeed result) {
if (estimatedBiases != null) {
result.setValue(estimatedBiases[2]);
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets estimated gyroscope bias.
*
* @return estimated gyroscope bias or null if not available.
*/
@Override
public AngularSpeedTriad getEstimatedBiasAsTriad() {
return estimatedBiases != null
? new AngularSpeedTriad(AngularSpeedUnit.RADIANS_PER_SECOND,
estimatedBiases[0], estimatedBiases[1], estimatedBiases[2])
: null;
}
/**
* Gets estimated gyroscope bias.
*
* @param result instance where result will be stored.
* @return true if estimated gyroscope bias is available and result was
* modified, false otherwise.
*/
@Override
public boolean getEstimatedBiasAsTriad(final AngularSpeedTriad result) {
if (estimatedBiases != null) {
result.setValueCoordinatesAndUnit(
estimatedBiases[0], estimatedBiases[1], estimatedBiases[2], AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets estimated gyroscope scale factors and cross coupling errors.
* This is the product of matrix Tg containing cross coupling errors and Kg
* containing scaling factors.
* So that:
* <pre>
* Mg = [sx mxy mxz] = Tg*Kg
* [myx sy myz]
* [mzx mzy sz ]
* </pre>
* Where:
* <pre>
* Kg = [sx 0 0 ]
* [0 sy 0 ]
* [0 0 sz]
* </pre>
* and
* <pre>
* Tg = [1 -alphaXy alphaXz ]
* [alphaYx 1 -alphaYz]
* [-alphaZx alphaZy 1 ]
* </pre>
* Hence:
* <pre>
* Mg = [sx mxy mxz] = Tg*Kg = [sx -sy * alphaXy sz * alphaXz ]
* [myx sy myz] [sx * alphaYx sy -sz * alphaYz]
* [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
* </pre>
* This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
* are considered to be zero if the gyroscope z-axis is assumed to be the same
* as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
* becomes upper diagonal:
* <pre>
* Mg = [sx mxy mxz]
* [0 sy myz]
* [0 0 sz ]
* </pre>
* Values of this matrix are unit-less.
*
* @return estimated gyroscope scale factors and cross coupling errors, or null
* if not available.
*/
@Override
public Matrix getEstimatedMg() {
return estimatedMg;
}
/**
* Gets estimated gyroscope x-axis scale factor.
*
* @return estimated gyroscope x-axis scale factor or null
* if not available.
*/
@Override
public Double getEstimatedSx() {
return estimatedMg != null ? estimatedMg.getElementAt(0, 0) : null;
}
/**
* Gets estimated gyroscope y-axis scale factor.
*
* @return estimated gyroscope y-axis scale factor or null
* if not available.
*/
@Override
public Double getEstimatedSy() {
return estimatedMg != null ? estimatedMg.getElementAt(1, 1) : null;
}
/**
* Gets estimated gyroscope z-axis scale factor.
*
* @return estimated gyroscope z-axis scale factor or null
* if not available.
*/
@Override
public Double getEstimatedSz() {
return estimatedMg != null ? estimatedMg.getElementAt(2, 2) : null;
}
/**
* Gets estimated gyroscope x-y cross-coupling error.
*
* @return estimated gyroscope x-y cross-coupling error or null
* if not available.
*/
@Override
public Double getEstimatedMxy() {
return estimatedMg != null ? estimatedMg.getElementAt(0, 1) : null;
}
/**
* Gets estimated gyroscope x-z cross-coupling error.
*
* @return estimated gyroscope x-z cross-coupling error or null
* if not available.
*/
@Override
public Double getEstimatedMxz() {
return estimatedMg != null ? estimatedMg.getElementAt(0, 2) : null;
}
/**
* Gets estimated gyroscope y-x cross-coupling error.
*
* @return estimated gyroscope y-x cross-coupling error or null
* if not available.
*/
@Override
public Double getEstimatedMyx() {
return estimatedMg != null ? estimatedMg.getElementAt(1, 0) : null;
}
/**
* Gets estimated gyroscope y-z cross-coupling error.
*
* @return estimated gyroscope y-z cross-coupling error or null
* if not available.
*/
@Override
public Double getEstimatedMyz() {
return estimatedMg != null ? estimatedMg.getElementAt(1, 2) : null;
}
/**
* Gets estimated gyroscope z-x cross-coupling error.
*
* @return estimated gyroscope z-x cross-coupling error or null
* if not available.
*/
@Override
public Double getEstimatedMzx() {
return estimatedMg != null ? estimatedMg.getElementAt(2, 0) : null;
}
/**
* Gets estimated gyroscope z-y cross-coupling error.
*
* @return estimated gyroscope z-y cross-coupling error or null
* if not available.
*/
@Override
public Double getEstimatedMzy() {
return estimatedMg != null ? estimatedMg.getElementAt(2, 1) : null;
}
/**
* Gets estimated G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
* This instance allows any 3x3 matrix.
*
* @return estimated G-dependent cross biases.
*/
@Override
public Matrix getEstimatedGg() {
return estimatedGg;
}
/**
* Gets estimated covariance matrix for estimated parameters.
* Diagonal elements of the matrix contains variance for the following
* parameters (following indicated order): bgx, bgy, bgz, sx, sy, sz,
* mxy, mxz, myx, myz, mzx, mzy, gg11, gg21, gg31, gg12, gg22, gg32,
* gg13, gg23, gg33.
*
* @return estimated covariance matrix for estimated parameters.
*/
@Override
public Matrix getEstimatedCovariance() {
return estimatedCovariance;
}
/**
* Gets estimated chi square value.
*
* @return estimated chi square value.
*/
public double getEstimatedChiSq() {
return estimatedChiSq;
}
/**
* Gets estimated chi square degrees of freedom. Degrees of freedom is equal to the number of sampled data minus the
* number of estimated parameters.
*
* @return estimated degrees of freedom of chi square value
*/
@Override
public int getEstimatedChiSqDegreesOfFreedom() {
return estimatedChiSqDegreesOfFreedom;
}
/**
* Gets estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of
* freedom. Ideally this value should be close to 1.0, indicating that fit is optimal.
* A value larger than 1.0 indicates that fit is not good or noise has been underestimated, and a value smaller than
* 1.0 indicates that there is overfitting or noise has been overestimated.
*
* @return estimated reduced chi square value
*/
@Override
public double getEstimatedReducedChiSq() {
return estimatedReducedChiSq;
}
/**
* Gets estimated mean square error respect to provided measurements.
*
* @return estimated mean square error respect to provided measurements.
*/
@Override
public double getEstimatedMse() {
return estimatedMse;
}
/**
* Gets estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The
* smaller the found chi square value is, the better the fit of the estimated parameters to the actual parameter.
* Thus, the smaller the chance of finding a smaller chi square value, then the better the estimated fit is.
*
* @return estimated probability of finding a smaller chi square value.
*/
@Override
public double getEstimatedP() {
return estimatedP;
}
/**
* Gets estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value
* is, the better the fit that has been estimated.
*
* @return estimated measure of quality of estimated fit.
*/
@Override
public double getEstimatedQ() {
return estimatedQ;
}
/**
* Gets variance of estimated x coordinate of gyroscope bias expressed in (rad^2/s^2).
*
* @return variance of estimated x coordinate of gyroscope bias or null if not available.
*/
public Double getEstimatedBiasXVariance() {
return estimatedCovariance != null ? estimatedCovariance.getElementAt(0, 0) : null;
}
/**
* Gets standard deviation of estimated x coordinate of gyroscope bias expressed in
* radians per second (rad/s).
*
* @return standard deviation of estimated x coordinate of gyroscope bias or null if not
* available.
*/
public Double getEstimatedBiasXStandardDeviation() {
final var variance = getEstimatedBiasXVariance();
return variance != null ? Math.sqrt(variance) : null;
}
/**
* Gets standard deviation of estimated x coordinate of gyroscope bias.
*
* @return standard deviation of estimated x coordinate of gyroscope bias or null if not
* available.
*/
public AngularSpeed getEstimatedBiasXStandardDeviationAsAngularSpeed() {
return estimatedCovariance != null
? new AngularSpeed(getEstimatedBiasXStandardDeviation(), AngularSpeedUnit.RADIANS_PER_SECOND) : null;
}
/**
* Gets standard deviation of estimated x coordinate of gyroscope bias.
*
* @param result instance where result will be stored.
* @return true if standard deviation of estimated x coordinate of gyroscope bias is available,
* false otherwise.
*/
public boolean getEstimatedBiasXStandardDeviationAsAngularSpeed(final AngularSpeed result) {
if (estimatedCovariance != null) {
result.setValue(getEstimatedBiasXStandardDeviation());
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets variance of estimated y coordinate of gyroscope bias expressed in (rad^2/s^2).
*
* @return variance of estimated y coordinate of gyroscope bias or null if not available.
*/
public Double getEstimatedBiasYVariance() {
return estimatedCovariance != null ? estimatedCovariance.getElementAt(1, 1) : null;
}
/**
* Gets standard deviation of estimated y coordinate of gyroscope bias expressed in
* radians per second (rad/s).
*
* @return standard deviation of estimated y coordinate of gyroscope bias or null if not
* available.
*/
public Double getEstimatedBiasYStandardDeviation() {
final var variance = getEstimatedBiasYVariance();
return variance != null ? Math.sqrt(variance) : null;
}
/**
* Gets standard deviation of estimated y coordinate of gyroscope bias.
*
* @return standard deviation of estimated y coordinate of gyroscope bias or null if not
* available.
*/
public AngularSpeed getEstimatedBiasYStandardDeviationAsAngularSpeed() {
return estimatedCovariance != null
? new AngularSpeed(getEstimatedBiasYStandardDeviation(), AngularSpeedUnit.RADIANS_PER_SECOND) : null;
}
/**
* Gets standard deviation of estimated y coordinate of gyroscope bias.
*
* @param result instance where result will be stored.
* @return true if standard deviation of estimated y coordinate of gyroscope bias is available,
* false otherwise.
*/
public boolean getEstimatedBiasYStandardDeviationAsAngularSpeed(final AngularSpeed result) {
if (estimatedCovariance != null) {
result.setValue(getEstimatedBiasYStandardDeviation());
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets variance of estimated z coordinate of gyroscope bias expressed in (rad^2/s^2).
*
* @return variance of estimated z coordinate of gyroscope bias or null if not available.
*/
public Double getEstimatedBiasZVariance() {
return estimatedCovariance != null ? estimatedCovariance.getElementAt(2, 2) : null;
}
/**
* Gets standard deviation of estimated z coordinate of gyroscope bias expressed in
* radians per second (rad/s).
*
* @return standard deviation of estimated z coordinate of gyroscope bias or null if not
* available.
*/
public Double getEstimatedBiasZStandardDeviation() {
final var variance = getEstimatedBiasZVariance();
return variance != null ? Math.sqrt(variance) : null;
}
/**
* Gets standard deviation of estimated z coordinate of gyroscope bias.
*
* @return standard deviation of estimated z coordinate of gyroscope bias or null if not
* available.
*/
public AngularSpeed getEstimatedBiasZStandardDeviationAsAngularSpeed() {
return estimatedCovariance != null
? new AngularSpeed(getEstimatedBiasZStandardDeviation(), AngularSpeedUnit.RADIANS_PER_SECOND) : null;
}
/**
* Gets standard deviation of estimated z coordinate of gyroscope bias.
*
* @param result instance where result will be stored.
* @return true if standard deviation of estimated z coordinate of gyroscope bias is available,
* false otherwise.
*/
public boolean getEstimatedBiasZStandardDeviationAsAngularSpeed(final AngularSpeed result) {
if (estimatedCovariance != null) {
result.setValue(getEstimatedBiasZStandardDeviation());
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets standard deviation of estimated gyroscope bias coordinates.
*
* @return standard deviation of estimated gyroscope bias coordinates.
*/
public AngularSpeedTriad getEstimatedBiasStandardDeviation() {
return estimatedCovariance != null
? new AngularSpeedTriad(AngularSpeedUnit.RADIANS_PER_SECOND,
getEstimatedBiasXStandardDeviation(),
getEstimatedBiasYStandardDeviation(),
getEstimatedBiasZStandardDeviation())
: null;
}
/**
* Gets standard deviation of estimated gyroscope bias coordinates.
*
* @param result instance where result will be stored.
* @return true if standard deviation of gyroscope bias was available, false
* otherwise.
*/
public boolean getEstimatedBiasStandardDeviation(final AngularSpeedTriad result) {
if (estimatedCovariance != null) {
result.setValueCoordinatesAndUnit(
getEstimatedBiasXStandardDeviation(),
getEstimatedBiasYStandardDeviation(),
getEstimatedBiasZStandardDeviation(),
AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets average of estimated standard deviation of gyroscope bias coordinates expressed
* in radians per second (rad/s).
*
* @return average of estimated standard deviation of gyroscope bias coordinates or null
* if not available.
*/
public Double getEstimatedBiasStandardDeviationAverage() {
return estimatedCovariance != null
? (getEstimatedBiasXStandardDeviation() + getEstimatedBiasYStandardDeviation()
+ getEstimatedBiasZStandardDeviation()) / 3.0
: null;
}
/**
* Gets average of estimated standard deviation of gyroscope bias coordinates.
*
* @return average of estimated standard deviation of gyroscope bias coordinates or null.
*/
public AngularSpeed getEstimatedBiasStandardDeviationAverageAsAngularSpeed() {
return estimatedCovariance != null
? new AngularSpeed(getEstimatedBiasStandardDeviationAverage(), AngularSpeedUnit.RADIANS_PER_SECOND)
: null;
}
/**
* Gets average of estimated standard deviation of gyroscope bias coordinates.
*
* @param result instance where result will be stored.
* @return true if average of estimated standard deviation of gyroscope bias is available,
* false otherwise.
*/
public boolean getEstimatedBiasStandardDeviationAverageAsAngularSpeed(final AngularSpeed result) {
if (estimatedCovariance != null) {
result.setValue(getEstimatedBiasStandardDeviationAverage());
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets norm of estimated standard deviation of gyroscope bias expressed in
* radians per second (rad/s).
* This can be used as the initial gyroscope bias uncertainty for
* {@link INSLooselyCoupledKalmanInitializerConfig} or {@link INSTightlyCoupledKalmanInitializerConfig}.
*
* @return norm of estimated standard deviation of gyroscope bias or null
* if not available.
*/
@Override
public Double getEstimatedBiasStandardDeviationNorm() {
return estimatedCovariance != null
? Math.sqrt(getEstimatedBiasXVariance() + getEstimatedBiasYVariance() + getEstimatedBiasZVariance())
: null;
}
/**
* Gets norm of estimated standard deviation of gyroscope bias.
* This can be used as the initial gyroscope bias uncertainty for
* {@link INSLooselyCoupledKalmanInitializerConfig} or {@link INSTightlyCoupledKalmanInitializerConfig}.
*
* @return norm of estimated standard deviation of gyroscope bias or null
* if not available.
*/
public AngularSpeed getEstimatedBiasStandardDeviationNormAsAngularSpeed() {
return estimatedCovariance != null
? new AngularSpeed(getEstimatedBiasStandardDeviationNorm(), AngularSpeedUnit.RADIANS_PER_SECOND)
: null;
}
/**
* Gets norm of estimated standard deviation of gyroscope bias coordinates.
* This can be used as the initial gyroscope bias uncertainty for
* {@link INSLooselyCoupledKalmanInitializerConfig} or {@link INSTightlyCoupledKalmanInitializerConfig}.
*
* @param result instance where result will be stored.
* @return true if norm of estimated standard deviation of gyroscope bias is
* available, false otherwise.
*/
public boolean getEstimatedBiasStandardDeviationNormAsAngularSpeed(final AngularSpeed result) {
if (estimatedCovariance != null) {
result.setValue(getEstimatedBiasStandardDeviationNorm());
result.setUnit(AngularSpeedUnit.RADIANS_PER_SECOND);
return true;
} else {
return false;
}
}
/**
* Gets size of subsets to be checked during robust estimation.
* This has to be at least {@link #getMinimumRequiredMeasurementsOrSequences()}.
*
* @return size of subsets to be checked during robust estimation.
*/
public int getPreliminarySubsetSize() {
return preliminarySubsetSize;
}
/**
* Sets size of subsets to be checked during robust estimation.
* This has to be at least {@link #getMinimumRequiredMeasurementsOrSequences}.
*
* @param preliminarySubsetSize size of subsets to be checked during robust estimation.
* @throws LockedException if calibrator is currently running.
* @throws IllegalArgumentException if provided value is less than
* {@link #getMinimumRequiredMeasurementsOrSequences}.
*/
public void setPreliminarySubsetSize(final int preliminarySubsetSize) throws LockedException {
if (running) {
throw new LockedException();
}
if (preliminarySubsetSize < getMinimumRequiredMeasurementsOrSequences()) {
throw new IllegalArgumentException();
}
this.preliminarySubsetSize = preliminarySubsetSize;
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
public abstract RobustEstimatorMethod getMethod();
/**
* Creates a robust gyroscope calibrator.
*
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
*/
public static RobustEasyGyroscopeCalibrator create(final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator();
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator();
case MSAC -> new MSACRobustEasyGyroscopeCalibrator();
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator();
default -> new PROMedSRobustEasyGyroscopeCalibrator();
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustEasyGyroscopeCalibratorListener listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(
sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(
sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(
sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(
sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(
sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator();
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator();
case MSAC -> new MSACRobustEasyGyroscopeCalibrator();
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustEasyGyroscopeCalibratorListener listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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 method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa);
};
}
/**
* Creates a robust gyroscope calibrator.
*
* @param qualityScores quality scores corresponding to each provided
* sequence. The larger the score value the better
* the quality of the sequence.
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @param method robust estimator method.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size or if provided
* quality scores length is smaller
* than 10.
*/
public static RobustEasyGyroscopeCalibrator create(
final double[] qualityScores,
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case LMEDS -> new LMedSRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case MSAC -> new MSACRobustEasyGyroscopeCalibrator(sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
case PROSAC -> new PROSACRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
default -> new PROMedSRobustEasyGyroscopeCalibrator(qualityScores, sequences, commonAxisUsed,
estimateGDependentCrossBiases, initialBias, initialMg, initialGg, accelerometerBias,
accelerometerMa, listener);
};
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @return a robust gyroscope calibrator.
*/
public static RobustEasyGyroscopeCalibrator create() {
return create(DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg) {
return create(sequences, initialBias, initialMg, initialGg, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a solution.
* 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, initialBias, initialMg, initialGg, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg) {
return create(sequences, initialBias, initialMg, initialGg, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, initialBias, initialMg, initialGg, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa) {
return create(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final double[] initialBias, final Matrix initialMg, final Matrix initialGg,
final double[] accelerometerBias, final Matrix accelerometerMa,
final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
return create(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @param sequences collection of sequences containing timestamped body
* kinematics measurements.
* @param initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final Matrix initialBias, final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, initialBias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg,
listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg,
listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] initialBias,
final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg, initialGg,
accelerometerBias, accelerometerMa, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust gyroscope calibrator using default robust method.
*
* @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 initialBias initial gyroscope bias to be used to find a
* solution. 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.
* @return a robust gyroscope calibrator.
* @throws IllegalArgumentException if any of the provided values does
* not have proper size.
*/
public static RobustEasyGyroscopeCalibrator create(
final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix initialBias,
final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
final Matrix accelerometerMa, final RobustEasyGyroscopeCalibratorListener listener) {
return create(sequences, commonAxisUsed, estimateGDependentCrossBiases, initialBias, initialMg,
initialGg, accelerometerBias, accelerometerMa, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Configures acceleration fixer
*
* @throws AlgebraException if provided accelerometer parameters
* are numerically unstable.
*/
protected void setupAccelerationFixer() throws AlgebraException {
accelerationFixer.setBias(getAccelerometerBias());
accelerationFixer.setCrossCouplingErrors(getAccelerometerMa());
}
/**
* Computes error of a preliminary result respect a given sequence.
*
* @param sequence a sequence.
* @param preliminaryResult a preliminary result.
* @return computed error.
*/
protected double computeError(
final BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> sequence,
final PreliminaryResult preliminaryResult) {
try {
angularRateFixer.setBias(preliminaryResult.estimatedBiases);
angularRateFixer.setCrossCouplingErrors(preliminaryResult.estimatedMg);
angularRateFixer.setGDependantCrossBias(preliminaryResult.estimatedGg);
// copy measured sequence as it will be used to fix kinematics values
// using preliminary gyroscope parameters
final var fixedSequence = new BodyKinematicsSequence<>(sequence);
// fix body kinematic measurements of provided sequence
final var numItems = sequence.getItemsCount();
final var measuredItems = sequence.getSortedItems();
final var fixedItems = fixedSequence.getSortedItems();
for (var j = 0; j < numItems; j++) {
final var measuredItem = measuredItems.get(j);
final var fixedItem = fixedItems.get(j);
final var measuredKinematics = measuredItem.getKinematics();
final var fixedKinematics = fixedItem.getKinematics();
fixKinematics(measuredKinematics, fixedKinematics);
}
// integrate fixed sequence to obtain attitude change
QuaternionIntegrator.integrateGyroSequence(fixedSequence, QuaternionStepIntegratorType.RUNGE_KUTTA, q);
// fix before coordinates
measuredSpecificForce[0] = sequence.getBeforeMeanFx();
measuredSpecificForce[1] = sequence.getBeforeMeanFy();
measuredSpecificForce[2] = sequence.getBeforeMeanFz();
accelerationFixer.fix(measuredSpecificForce, fixedSpecificForce);
// normalize coordinates
ArrayUtils.normalize(fixedSpecificForce);
// compute estimated normalized end coordinates
startPoint.setCoordinates(fixedSpecificForce);
q.inverse();
q.rotate(startPoint, endPoint);
// fix after coordinates
measuredSpecificForce[0] = sequence.getAfterMeanFx();
measuredSpecificForce[1] = sequence.getAfterMeanFy();
measuredSpecificForce[2] = sequence.getAfterMeanFz();
accelerationFixer.fix(measuredSpecificForce, fixedSpecificForce);
// normalize coordinates
ArrayUtils.normalize(fixedSpecificForce);
expectedEndPoint.setCoordinates(fixedSpecificForce);
// compare estimated normalized end coordinates with expected
// ones
return expectedEndPoint.distanceTo(endPoint);
} catch (final AlgebraException | RotationException e) {
return Double.MAX_VALUE;
}
}
/**
* Computes a preliminary solution for a subset of samples picked by a robust estimator.
*
* @param samplesIndices indices of samples picked by the robust estimator.
* @param solutions list where estimated preliminary solution will be stored.
*/
protected void computePreliminarySolutions(
final int[] samplesIndices, final List<PreliminaryResult> solutions) {
final var seqs = new ArrayList<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>();
for (final var samplesIndex : samplesIndices) {
seqs.add(this.sequences.get(samplesIndex));
}
try {
final var result = new PreliminaryResult();
result.estimatedBiases = getInitialBias();
result.estimatedMg = getInitialMg();
result.estimatedGg = getInitialGg();
innerCalibrator.setGDependentCrossBiasesEstimated(estimateGDependentCrossBiases);
innerCalibrator.setInitialBias(result.estimatedBiases);
innerCalibrator.setInitialMg(result.estimatedMg);
innerCalibrator.setInitialGg(result.estimatedGg);
innerCalibrator.setAccelerometerBias(accelerometerBiasX, accelerometerBiasY, accelerometerBiasZ);
innerCalibrator.setAccelerometerScalingFactorsAndCrossCouplingErrors(
accelerometerSx, accelerometerSy, accelerometerSz,
accelerometerMxy, accelerometerMxz, accelerometerMyx,
accelerometerMyz, accelerometerMzx, accelerometerMzy);
innerCalibrator.setCommonAxisUsed(commonAxisUsed);
innerCalibrator.setSequences(seqs);
innerCalibrator.calibrate();
innerCalibrator.getEstimatedBiases(result.estimatedBiases);
result.estimatedMg = innerCalibrator.getEstimatedMg();
result.estimatedGg = innerCalibrator.getEstimatedGg();
if (keepCovariance) {
result.covariance = innerCalibrator.getEstimatedCovariance();
} else {
result.covariance = null;
}
result.estimatedMse = innerCalibrator.getEstimatedMse();
result.estimatedChiSq = innerCalibrator.getEstimatedChiSq();
result.estimatedChiSqDegreesOfFreedom = innerCalibrator.getEstimatedChiSqDegreesOfFreedom();
result.estimatedReducedChiSq = innerCalibrator.getEstimatedReducedChiSq();
result.estimatedP = innerCalibrator.getEstimatedP();
result.estimatedQ = innerCalibrator.getEstimatedQ();
solutions.add(result);
} catch (final LockedException | CalibrationException | NotReadyException e) {
solutions.clear();
}
}
/**
* Attempts to refine calibration parameters if refinement is requested.
* This method returns a refined solution or provided input if refinement is not
* requested or has failed.
* If refinement is enabled and it is requested to keep covariance, this method
* will also keep covariance of refined position.
*
* @param preliminaryResult a preliminary result.
*/
protected void attemptRefine(final PreliminaryResult preliminaryResult) {
if (refineResult && inliersData != null) {
final var inliers = inliersData.getInliers();
final var nSamples = sequences.size();
final var inlierSequences = new ArrayList<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>();
for (var i = 0; i < nSamples; i++) {
if (inliers.get(i)) {
// sample is inlier
inlierSequences.add(sequences.get(i));
}
}
try {
innerCalibrator.setGDependentCrossBiasesEstimated(estimateGDependentCrossBiases);
innerCalibrator.setInitialBias(preliminaryResult.estimatedBiases);
innerCalibrator.setInitialMg(preliminaryResult.estimatedMg);
innerCalibrator.setInitialGg(preliminaryResult.estimatedGg);
innerCalibrator.setAccelerometerBias(accelerometerBiasX, accelerometerBiasY, accelerometerBiasZ);
innerCalibrator.setAccelerometerScalingFactorsAndCrossCouplingErrors(
accelerometerSx, accelerometerSy, accelerometerSz,
accelerometerMxy, accelerometerMxz, accelerometerMyx,
accelerometerMyz, accelerometerMzx, accelerometerMzy);
innerCalibrator.setCommonAxisUsed(commonAxisUsed);
innerCalibrator.setSequences(inlierSequences);
innerCalibrator.calibrate();
estimatedBiases = innerCalibrator.getEstimatedBiases();
estimatedMg = innerCalibrator.getEstimatedMg();
estimatedGg = innerCalibrator.getEstimatedGg();
estimatedCovariance = innerCalibrator.getEstimatedCovariance();
estimatedMse = innerCalibrator.getEstimatedMse();
estimatedChiSq = innerCalibrator.getEstimatedChiSq();
estimatedChiSqDegreesOfFreedom = innerCalibrator.getEstimatedChiSqDegreesOfFreedom();
estimatedReducedChiSq = innerCalibrator.getEstimatedReducedChiSq();
estimatedP = innerCalibrator.getEstimatedP();
estimatedQ = innerCalibrator.getEstimatedQ();
} catch (LockedException | CalibrationException | NotReadyException e) {
estimatedCovariance = preliminaryResult.covariance;
estimatedBiases = preliminaryResult.estimatedBiases;
estimatedMg = preliminaryResult.estimatedMg;
estimatedGg = preliminaryResult.estimatedGg;
estimatedMse = preliminaryResult.estimatedMse;
estimatedChiSq = preliminaryResult.estimatedChiSq;
estimatedChiSqDegreesOfFreedom = preliminaryResult.estimatedChiSqDegreesOfFreedom;
estimatedReducedChiSq = preliminaryResult.estimatedReducedChiSq;
estimatedP = preliminaryResult.estimatedP;
estimatedQ = preliminaryResult.estimatedQ;
}
} else {
estimatedCovariance = preliminaryResult.covariance;
estimatedBiases = preliminaryResult.estimatedBiases;
estimatedMg = preliminaryResult.estimatedMg;
estimatedGg = preliminaryResult.estimatedGg;
estimatedMse = preliminaryResult.estimatedMse;
estimatedChiSq = preliminaryResult.estimatedChiSq;
estimatedChiSqDegreesOfFreedom = preliminaryResult.estimatedChiSqDegreesOfFreedom;
estimatedReducedChiSq = preliminaryResult.estimatedReducedChiSq;
estimatedP = preliminaryResult.estimatedP;
estimatedQ = preliminaryResult.estimatedQ;
}
}
/**
* Converts acceleration instance to meters per squared second.
*
* @param acceleration acceleration instance to be converted.
* @return converted value.
*/
private static double convertAcceleration(final Acceleration acceleration) {
return AccelerationConverter.convert(acceleration.getValue().doubleValue(), acceleration.getUnit(),
AccelerationUnit.METERS_PER_SQUARED_SECOND);
}
/**
* Converts angular speed value and unit to radians per second.
*
* @param value angular speed value.
* @param unit unit of angular speed value.
* @return converted value.
*/
private static double convertAngularSpeed(final double value, final AngularSpeedUnit unit) {
return AngularSpeedConverter.convert(value, unit, AngularSpeedUnit.RADIANS_PER_SECOND);
}
/**
* Converts angular speed instance to radians per second.
*
* @param angularSpeed angular speed instance to be converted.
* @return converted value.
*/
private static double convertAngularSpeed(final AngularSpeed angularSpeed) {
return convertAngularSpeed(angularSpeed.getValue().doubleValue(), angularSpeed.getUnit());
}
/**
* Fixes a measured kinematics instance using current
*
* @param measuredKinematics a measured kinematics instance.
* @param result instance where fixed values will be stored.
* @throws AlgebraException if accelerometer or gyroscope parameters
* contain numerical instabilities.
*/
private void fixKinematics(final BodyKinematics measuredKinematics, final BodyKinematics result)
throws AlgebraException {
measuredSpecificForce[0] = measuredKinematics.getFx();
measuredSpecificForce[1] = measuredKinematics.getFy();
measuredSpecificForce[2] = measuredKinematics.getFz();
accelerationFixer.fix(measuredSpecificForce, fixedSpecificForce);
measuredAngularRate[0] = measuredKinematics.getAngularRateX();
measuredAngularRate[1] = measuredKinematics.getAngularRateY();
measuredAngularRate[2] = measuredKinematics.getAngularRateZ();
angularRateFixer.fix(measuredAngularRate, fixedSpecificForce, fixedAngularRate);
result.setSpecificForceCoordinates(fixedSpecificForce[0], fixedSpecificForce[1], fixedSpecificForce[2]);
result.setAngularRateCoordinates(fixedAngularRate[0], fixedAngularRate[1], fixedAngularRate[2]);
}
/**
* Internal class containing estimated preliminary result.
*/
protected static class PreliminaryResult {
/**
* Estimated gyroscope biases for each IMU axis expressed in radians per second
* (rad/s).
*/
private double[] estimatedBiases;
/**
* Estimated gyroscope scale factors and cross coupling errors.
* This is the product of matrix Tg containing cross coupling errors and Kg
* containing scaling factors.
* So that:
* <pre>
* Mg = [sx mxy mxz] = Tg*Kg
* [myx sy myz]
* [mzx mzy sz ]
* </pre>
* Where:
* <pre>
* Kg = [sx 0 0 ]
* [0 sy 0 ]
* [0 0 sz]
* </pre>
* and
* <pre>
* Tg = [1 -alphaXy alphaXz ]
* [alphaYx 1 -alphaYz]
* [-alphaZx alphaZy 1 ]
* </pre>
* Hence:
* <pre>
* Mg = [sx mxy mxz] = Tg*Kg = [sx -sy * alphaXy sz * alphaXz ]
* [myx sy myz] [sx * alphaYx sy -sz * alphaYz]
* [mzx mzy sz ] [-sx * alphaZx sy * alphaZy sz ]
* </pre>
* This instance allows any 3x3 matrix however, typically alphaYx, alphaZx and alphaZy
* are considered to be zero if the gyroscope z-axis is assumed to be the same
* as the body z-axis. When this is assumed, myx = mzx = mzy = 0 and the Mg matrix
* becomes upper diagonal:
* <pre>
* Mg = [sx mxy mxz]
* [0 sy myz]
* [0 0 sz ]
* </pre>
* Values of this matrix are unit-less.
*/
private Matrix estimatedMg;
/**
* Estimated G-dependent cross biases introduced on the gyroscope by the
* specific forces sensed by the accelerometer.
* This instance allows any 3x3 matrix.
*/
private Matrix estimatedGg;
/**
* Covariance matrix for estimated result.
*/
private Matrix covariance;
/**
* Estimated Mean Square Error.
*/
private double estimatedMse;
/**
* Estimated chi square value.
*/
private double estimatedChiSq;
/**
* Estimated degrees of freedom of chi square value. Degrees of freedom is equal to the number of sampled data
* minus the number of estimated parameters.
*/
private int estimatedChiSqDegreesOfFreedom;
/**
* Estimated reduced chi square value. This is equal to estimated chi square value divided by its degrees of
* freedom. Ideally this value should be close to 1.0.
*/
private double estimatedReducedChiSq;
/**
* Estimated probability of finding a smaller chi square value expressed as a value between 0.0 and 1.0. The smaller
* the found chi square value is, the better the fit of the estimated parameters to the actual parameter. Thus, the
* smaller the chance of finding a smaller chi square value, then the better the estimated fit is.
*/
private double estimatedP;
/**
* Estimated measure of quality of estimated fit as a value between 0.0 and 1.0. The larger the quality value is,
* the better the fit that has been estimated.
*/
private double estimatedQ;
}
}