Package com.irurueta.navigation.inertial.calibration

Class BodyKinematicsGeneratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.BodyKinematicsGeneratorTest

@ExtendWith(org.mockito.junit.jupiter.MockitoExtension.class)
class BodyKinematicsGeneratorTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	ACCEL_QUANT_LEVEL
private static final double	DEG_TO_RAD
private static final double	GYRO_QUANT_LEVEL
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAX_ACCEL_QUANT_RESIDUAL
private static final double	MAX_ACCELEROMETER_VALUE
private static final double	MAX_GYRO_QUANT_RESIDUAL
private static final double	MAX_GYRO_VALUE
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ACCEL_QUANT_RESIDUAL
private static final double	MIN_ACCELEROMETER_VALUE
private static final double	MIN_GYRO_QUANT_RESIDUAL
private static final double	MIN_GYRO_VALUE
private static final int	NUM
private static final int	SAMPLES
private static final double	TIME_INTERVAL_SECONDS

Constructor Summary

Constructors

Constructor	Description
BodyKinematicsGeneratorTest()

Method Summary

Modifier and Type	Method	Description
private static BodyKinematics	generate(double timeInterval, BodyKinematics trueKinematics, IMUErrors errors, Random random, double[] oldQuantizationResiduals, double[] quantizationResiduals)
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 double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
(package private) void	testEstimateNoiseRootPSDs()
(package private) void	testGenerateCollection()
(package private) void	testGenerateSingleNoTimeIntervalNoQuantizationAndNoNoise()
(package private) void	testGenerateSingleNoTimeIntervalQuantizedAndWithNoise()
(package private) void	testGenerateSingleTimeIntervalNotQuantizedAndWithNoise()
(package private) void	testGenerateSingleTimeIntervalQuantizedAndWithNoise()
(package private) void	testGenerateSingleTimeIntervalQuantizedAndWithoutNoise()

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

MIN_ACCEL_QUANT_RESIDUAL

private static final double MIN_ACCEL_QUANT_RESIDUAL

See Also:

• Constant Field Values

MAX_ACCEL_QUANT_RESIDUAL

private static final double MAX_ACCEL_QUANT_RESIDUAL

See Also:

• Constant Field Values

MIN_GYRO_QUANT_RESIDUAL

private static final double MIN_GYRO_QUANT_RESIDUAL

See Also:

• Constant Field Values

MAX_GYRO_QUANT_RESIDUAL

private static final double MAX_GYRO_QUANT_RESIDUAL

See Also:

• Constant Field Values

NUM

private static final int NUM

See Also:

• Constant Field Values

SAMPLES

private static final int SAMPLES

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

ACCEL_QUANT_LEVEL

private static final double ACCEL_QUANT_LEVEL

See Also:

• Constant Field Values

GYRO_QUANT_LEVEL

private static final double GYRO_QUANT_LEVEL

See Also:

• Constant Field Values

Constructor Details

BodyKinematicsGeneratorTest

BodyKinematicsGeneratorTest()

Method Details

testGenerateSingleTimeIntervalQuantizedAndWithNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

testGenerateSingleNoTimeIntervalQuantizedAndWithNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

testGenerateSingleTimeIntervalQuantizedAndWithoutNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

testGenerateSingleTimeIntervalNotQuantizedAndWithNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

testGenerateSingleNoTimeIntervalNoQuantizationAndNoNoise

@Test
void testGenerateSingleNoTimeIntervalNoQuantizationAndNoNoise()
                                                       throws com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

testGenerateCollection

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

Throws:

com.irurueta.algebra.WrongSizeException

testEstimateNoiseRootPSDs

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

Throws:

com.irurueta.algebra.WrongSizeException

generate

private static BodyKinematics generate(double timeInterval,
 BodyKinematics trueKinematics,
 IMUErrors errors,
 Random random,
 double[] oldQuantizationResiduals,
 double[] quantizationResiduals)
                                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

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

getAccelNoiseRootPSD

private static double getAccelNoiseRootPSD()

getGyroNoiseRootPSD

private static double getGyroNoiseRootPSD()