Package com.irurueta.navigation.inertial.calibration

Class BodyKinematicsFixerTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.BodyKinematicsFixerTest

class BodyKinematicsFixerTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	DEG_TO_RAD
private static final double	MAX_ACCELEROMETER_VALUE
private static final double	MAX_GYRO_VALUE
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ACCELEROMETER_VALUE
private static final double	MIN_GYRO_VALUE
private static final double	TIME_INTERVAL_SECONDS

Constructor Summary

Constructors

Constructor	Description
BodyKinematicsFixerTest()

Method Summary

Modifier and Type	Method	Description
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static com.irurueta.algebra.Matrix	generateGg()
private static com.irurueta.algebra.Matrix	generateMa()
private static com.irurueta.algebra.Matrix	generateMg()
private static BodyKinematics	getTrueKinematics()
(package private) void	testConstructor()
(package private) void	testFix1()
(package private) void	testFix2()
(package private) void	testFix3()
(package private) void	testFix4()
(package private) void	testFixAndReturnNew1()
(package private) void	testFixAndReturnNew2()
(package private) void	testGetSetAccelerationBias()
(package private) void	testGetSetAccelerationBiasArray()
(package private) void	testGetSetAccelerationBiasTriad()
(package private) void	testGetSetAccelerationBiasX()
(package private) void	testGetSetAccelerationBiasXAsAcceleration()
(package private) void	testGetSetAccelerationBiasY()
(package private) void	testGetSetAccelerationBiasYAsAcceleration()
(package private) void	testGetSetAccelerationBiasZ()
(package private) void	testGetSetAccelerationBiasZAsAcceleration()
(package private) void	testGetSetAccelerationCrossCouplingErrors()
(package private) void	testGetSetAccelerationMxy()
(package private) void	testGetSetAccelerationMxz()
(package private) void	testGetSetAccelerationMyx()
(package private) void	testGetSetAccelerationMyz()
(package private) void	testGetSetAccelerationMzx()
(package private) void	testGetSetAccelerationMzy()
(package private) void	testGetSetAccelerationSx()
(package private) void	testGetSetAccelerationSy()
(package private) void	testGetSetAccelerationSz()
(package private) void	testGetSetAngularSpeedBias()
(package private) void	testGetSetAngularSpeedBias2()
(package private) void	testGetSetAngularSpeedBiasArray()
(package private) void	testGetSetAngularSpeedBiasTriad()
(package private) void	testGetSetAngularSpeedBiasX()
(package private) void	testGetSetAngularSpeedBiasXAsAngularSpeed()
(package private) void	testGetSetAngularSpeedBiasY()
(package private) void	testGetSetAngularSpeedBiasYAsAngularSpeed()
(package private) void	testGetSetAngularSpeedBiasZ()
(package private) void	testGetSetAngularSpeedBiasZAsAngularSpeed()
(package private) void	testGetSetAngularSpeedCrossCouplingErrors()
(package private) void	testGetSetAngularSpeedGDependantCrossBias()
(package private) void	testGetSetAngularSpeedMxy()
(package private) void	testGetSetAngularSpeedMxz()
(package private) void	testGetSetAngularSpeedMyx()
(package private) void	testGetSetAngularSpeedMyz()
(package private) void	testGetSetAngularSpeedMzx()
(package private) void	testGetSetAngularSpeedMzy()
(package private) void	testGetSetAngularSpeedSx()
(package private) void	testGetSetAngularSpeedSy()
(package private) void	testGetSetAngularSpeedSz()
(package private) void	testGetSetBias2()
(package private) void	testSetAccelerationBias1()
(package private) void	testSetAccelerationCrossCouplingErrors()
(package private) void	testSetAccelerationScalingFactors()
(package private) void	testSetAccelerationScalingFactorsAndCrossCouplingErrors()
(package private) void	testSetAngularSpeedBias1()
(package private) void	testSetAngularSpeedCrossCouplingErrors()
(package private) void	testSetAngularSpeedScalingFactors()
(package private) void	testSetAngularSpeedScalingFactorsAndCrossCouplingErrors()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

TIME_INTERVAL_SECONDS

private static final double TIME_INTERVAL_SECONDS

See Also:

• Constant Field Values

MIN_ACCELEROMETER_VALUE

private static final double MIN_ACCELEROMETER_VALUE

See Also:

• Constant Field Values

MAX_ACCELEROMETER_VALUE

private static final double MAX_ACCELEROMETER_VALUE

See Also:

• Constant Field Values

MIN_GYRO_VALUE

private static final double MIN_GYRO_VALUE

See Also:

• Constant Field Values

MAX_GYRO_VALUE

private static final double MAX_GYRO_VALUE

See Also:

• Constant Field Values

MICRO_G_TO_METERS_PER_SECOND_SQUARED

private static final double MICRO_G_TO_METERS_PER_SECOND_SQUARED

See Also:

• Constant Field Values

DEG_TO_RAD

private static final double DEG_TO_RAD

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

Constructor Details

BodyKinematicsFixerTest

BodyKinematicsFixerTest()

Method Details

testConstructor

@Test
void testConstructor()
              throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testGetSetAccelerationBias

@Test
void testGetSetAccelerationBias()
                         throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testGetSetAccelerationBiasArray

@Test
void testGetSetAccelerationBiasArray()

testGetSetAccelerationBiasTriad

@Test
void testGetSetAccelerationBiasTriad()

testGetSetAccelerationBiasX

@Test
void testGetSetAccelerationBiasX()

testGetSetAccelerationBiasY

@Test
void testGetSetAccelerationBiasY()

testGetSetAccelerationBiasZ

@Test
void testGetSetAccelerationBiasZ()

testSetAccelerationBias1

@Test
void testSetAccelerationBias1()

testGetSetAccelerationBiasXAsAcceleration

@Test
void testGetSetAccelerationBiasXAsAcceleration()

testGetSetAccelerationBiasYAsAcceleration

@Test
void testGetSetAccelerationBiasYAsAcceleration()

testGetSetAccelerationBiasZAsAcceleration

@Test
void testGetSetAccelerationBiasZAsAcceleration()

testGetSetBias2

@Test
void testGetSetBias2()

testGetSetAccelerationCrossCouplingErrors

@Test
void testGetSetAccelerationCrossCouplingErrors()
                                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationSx

@Test
void testGetSetAccelerationSx()
                       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationSy

@Test
void testGetSetAccelerationSy()
                       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationSz

@Test
void testGetSetAccelerationSz()
                       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationMxy

@Test
void testGetSetAccelerationMxy()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationMxz

@Test
void testGetSetAccelerationMxz()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationMyx

@Test
void testGetSetAccelerationMyx()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationMyz

@Test
void testGetSetAccelerationMyz()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationMzx

@Test
void testGetSetAccelerationMzx()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAccelerationMzy

@Test
void testGetSetAccelerationMzy()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testSetAccelerationScalingFactors

@Test
void testSetAccelerationScalingFactors()
                                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testSetAccelerationCrossCouplingErrors

@Test
void testSetAccelerationCrossCouplingErrors()
                                     throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testSetAccelerationScalingFactorsAndCrossCouplingErrors

@Test
void testSetAccelerationScalingFactorsAndCrossCouplingErrors()
                                                      throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedBias

@Test
void testGetSetAngularSpeedBias()
                         throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testGetSetAngularSpeedBiasArray

@Test
void testGetSetAngularSpeedBiasArray()

testGetSetAngularSpeedBiasTriad

@Test
void testGetSetAngularSpeedBiasTriad()

testGetSetAngularSpeedBiasX

@Test
void testGetSetAngularSpeedBiasX()

testGetSetAngularSpeedBiasY

@Test
void testGetSetAngularSpeedBiasY()

testGetSetAngularSpeedBiasZ

@Test
void testGetSetAngularSpeedBiasZ()

testSetAngularSpeedBias1

@Test
void testSetAngularSpeedBias1()

testGetSetAngularSpeedBiasXAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasXAsAngularSpeed()

testGetSetAngularSpeedBiasYAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasYAsAngularSpeed()

testGetSetAngularSpeedBiasZAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasZAsAngularSpeed()

testGetSetAngularSpeedBias2

@Test
void testGetSetAngularSpeedBias2()

testGetSetAngularSpeedCrossCouplingErrors

@Test
void testGetSetAngularSpeedCrossCouplingErrors()
                                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedSx

@Test
void testGetSetAngularSpeedSx()
                       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedSy

@Test
void testGetSetAngularSpeedSy()
                       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedSz

@Test
void testGetSetAngularSpeedSz()
                       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedMxy

@Test
void testGetSetAngularSpeedMxy()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedMxz

@Test
void testGetSetAngularSpeedMxz()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedMyx

@Test
void testGetSetAngularSpeedMyx()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedMyz

@Test
void testGetSetAngularSpeedMyz()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedMzx

@Test
void testGetSetAngularSpeedMzx()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedMzy

@Test
void testGetSetAngularSpeedMzy()
                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testSetAngularSpeedScalingFactors

@Test
void testSetAngularSpeedScalingFactors()
                                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testSetAngularSpeedCrossCouplingErrors

@Test
void testSetAngularSpeedCrossCouplingErrors()
                                     throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testSetAngularSpeedScalingFactorsAndCrossCouplingErrors

@Test
void testSetAngularSpeedScalingFactorsAndCrossCouplingErrors()
                                                      throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testGetSetAngularSpeedGDependantCrossBias

@Test
void testGetSetAngularSpeedGDependantCrossBias()
                                        throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testFix1

@Test
void testFix1()
       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testFix2

@Test
void testFix2()
       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testFix3

@Test
void testFix3()
       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testFix4

@Test
void testFix4()
       throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testFixAndReturnNew1

@Test
void testFixAndReturnNew1()
                   throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testFixAndReturnNew2

@Test
void testFixAndReturnNew2()
                   throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

generateBa

private static com.irurueta.algebra.Matrix generateBa()

generateBg

private static com.irurueta.algebra.Matrix generateBg()

generateMa

private static com.irurueta.algebra.Matrix generateMa()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMg

private static com.irurueta.algebra.Matrix generateMg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateGg

private static com.irurueta.algebra.Matrix generateGg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

getTrueKinematics

private static BodyKinematics getTrueKinematics()