Package com.irurueta.navigation.inertial.calibration.accelerometer

Class PROSACRobustKnownBiasAndGravityNormAccelerometerCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.accelerometer.PROSACRobustKnownBiasAndGravityNormAccelerometerCalibratorTest

All Implemented Interfaces:

RobustKnownBiasAndGravityNormAccelerometerCalibratorListener

class PROSACRobustKnownBiasAndGravityNormAccelerometerCalibratorTest
extends Object
implements RobustKnownBiasAndGravityNormAccelerometerCalibratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	calibrateEnd
private int	calibrateNextIteration
private int	calibrateProgressChange
private int	calibrateStart
private static final double	DEG_TO_RAD
private static final double	LARGE_ABSOLUTE_ERROR
private static final int	LARGE_MEASUREMENT_NUMBER
private static final double	LARGE_THRESHOLD
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final int	MEASUREMENT_NUMBER
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	OUTLIER_ERROR_FACTOR
private static final int	OUTLIER_PERCENTAGE
private static final double	THRESHOLD
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
PROSACRobustKnownBiasAndGravityNormAccelerometerCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix ma, PROSACRobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)
private static void	checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)
private void	checkLocked(PROSACRobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)
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	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMaGeneral()
private static com.irurueta.algebra.Matrix	generateMg()
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onCalibrateEnd(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)
void	onCalibrateNextIteration(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator, int iteration)
void	onCalibrateProgressChange(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator, float progress)
void	onCalibrateStart(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateCommonAxisNoNoiseInlier()
(package private) void	testCalibrateCommonAxisWithInlierNoise()
(package private) void	testCalibrateGeneralNoNoiseInlier()
(package private) void	testCalibrateGeneralNoRefinement()
(package private) void	testCalibrateGeneralWithInlierNoise()
(package private) void	testConstructor1()
(package private) void	testConstructor10()
(package private) void	testConstructor11()
(package private) void	testConstructor12()
(package private) void	testConstructor13()
(package private) void	testConstructor14()
(package private) void	testConstructor15()
(package private) void	testConstructor16()
(package private) void	testConstructor17()
(package private) void	testConstructor18()
(package private) void	testConstructor19()
(package private) void	testConstructor2()
(package private) void	testConstructor20()
(package private) void	testConstructor21()
(package private) void	testConstructor22()
(package private) void	testConstructor23()
(package private) void	testConstructor24()
(package private) void	testConstructor25()
(package private) void	testConstructor26()
(package private) void	testConstructor27()
(package private) void	testConstructor28()
(package private) void	testConstructor29()
(package private) void	testConstructor3()
(package private) void	testConstructor30()
(package private) void	testConstructor31()
(package private) void	testConstructor32()
(package private) void	testConstructor33()
(package private) void	testConstructor34()
(package private) void	testConstructor35()
(package private) void	testConstructor36()
(package private) void	testConstructor37()
(package private) void	testConstructor38()
(package private) void	testConstructor39()
(package private) void	testConstructor4()
(package private) void	testConstructor40()
(package private) void	testConstructor41()
(package private) void	testConstructor42()
(package private) void	testConstructor43()
(package private) void	testConstructor44()
(package private) void	testConstructor45()
(package private) void	testConstructor46()
(package private) void	testConstructor47()
(package private) void	testConstructor48()
(package private) void	testConstructor49()
(package private) void	testConstructor5()
(package private) void	testConstructor50()
(package private) void	testConstructor51()
(package private) void	testConstructor52()
(package private) void	testConstructor53()
(package private) void	testConstructor54()
(package private) void	testConstructor55()
(package private) void	testConstructor56()
(package private) void	testConstructor57()
(package private) void	testConstructor58()
(package private) void	testConstructor59()
(package private) void	testConstructor6()
(package private) void	testConstructor60()
(package private) void	testConstructor61()
(package private) void	testConstructor62()
(package private) void	testConstructor63()
(package private) void	testConstructor64()
(package private) void	testConstructor65()
(package private) void	testConstructor66()
(package private) void	testConstructor67()
(package private) void	testConstructor68()
(package private) void	testConstructor69()
(package private) void	testConstructor7()
(package private) void	testConstructor70()
(package private) void	testConstructor71()
(package private) void	testConstructor72()
(package private) void	testConstructor73()
(package private) void	testConstructor74()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetSetBias()
(package private) void	testGetSetBiasAsMatrix()
(package private) void	testGetSetBiasAsTriad()
(package private) void	testGetSetBiasX()
(package private) void	testGetSetBiasXAsAcceleration()
(package private) void	testGetSetBiasY()
(package private) void	testGetSetBiasYAsAcceleration()
(package private) void	testGetSetBiasZ()
(package private) void	testGetSetBiasZAsAcceleration()
(package private) void	testGetSetConfidence()
(package private) void	testGetSetGroundTruthGravityNorm1()
(package private) void	testGetSetGroundTruthGravityNorm2()
(package private) void	testGetSetInitialCrossCouplingErrors()
(package private) void	testGetSetInitialMa()
(package private) void	testGetSetInitialMxy()
(package private) void	testGetSetInitialMxz()
(package private) void	testGetSetInitialMyx()
(package private) void	testGetSetInitialMyz()
(package private) void	testGetSetInitialMzx()
(package private) void	testGetSetInitialMzy()
(package private) void	testGetSetInitialScalingFactors()
(package private) void	testGetSetInitialSx()
(package private) void	testGetSetInitialSy()
(package private) void	testGetSetInitialSz()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxIterations()
(package private) void	testGetSetMeasurements()
(package private) void	testGetSetPreliminarySubsetSize()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScores()
(package private) void	testGetSetThreshold()
(package private) void	testIsReady()
(package private) void	testIsSetCommonAxisUsed()
(package private) void	testIsSetComputeAndKeepInliersEnabled()
(package private) void	testIsSetComputeAndKeepResidualsEnabled()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetResultRefined()
(package private) void	testSetBiasCoordinates1()
(package private) void	testSetBiasCoordinates2()
(package private) void	testSetInitialScalingFactorsAndCrossCouplingErrors()

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

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_ANGLE_DEGREES

private static final double MIN_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_DEGREES

private static final double MAX_ANGLE_DEGREES

See Also:

• Constant Field Values

MIN_LATITUDE_DEGREES

private static final double MIN_LATITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LATITUDE_DEGREES

private static final double MAX_LATITUDE_DEGREES

See Also:

• Constant Field Values

MIN_LONGITUDE_DEGREES

private static final double MIN_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LONGITUDE_DEGREES

private static final double MAX_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MIN_HEIGHT

private static final double MIN_HEIGHT

See Also:

• Constant Field Values

MAX_HEIGHT

private static final double MAX_HEIGHT

See Also:

• Constant Field Values

MEASUREMENT_NUMBER

private static final int MEASUREMENT_NUMBER

See Also:

• Constant Field Values

LARGE_MEASUREMENT_NUMBER

private static final int LARGE_MEASUREMENT_NUMBER

See Also:

• Constant Field Values

OUTLIER_PERCENTAGE

private static final int OUTLIER_PERCENTAGE

See Also:

• Constant Field Values

THRESHOLD

private static final double THRESHOLD

See Also:

• Constant Field Values

LARGE_THRESHOLD

private static final double LARGE_THRESHOLD

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

OUTLIER_ERROR_FACTOR

private static final double OUTLIER_ERROR_FACTOR

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

calibrateStart

private int calibrateStart

calibrateEnd

private int calibrateEnd

calibrateNextIteration

private int calibrateNextIteration

calibrateProgressChange

private int calibrateProgressChange

Constructor Details

PROSACRobustKnownBiasAndGravityNormAccelerometerCalibratorTest

PROSACRobustKnownBiasAndGravityNormAccelerometerCalibratorTest()

Method Details

testConstructor1

@Test
void testConstructor1()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor2

@Test
void testConstructor2()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor3

@Test
void testConstructor3()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor4

@Test
void testConstructor4()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor5

@Test
void testConstructor5()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor6

@Test
void testConstructor6()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor7

@Test
void testConstructor7()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor8

@Test
void testConstructor8()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor9

@Test
void testConstructor9()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor10

@Test
void testConstructor10()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor11

@Test
void testConstructor11()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor12

@Test
void testConstructor12()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor13

@Test
void testConstructor13()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor14

@Test
void testConstructor14()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor15

@Test
void testConstructor15()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor16

@Test
void testConstructor16()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor17

@Test
void testConstructor17()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor18

@Test
void testConstructor18()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor19

@Test
void testConstructor19()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor20

@Test
void testConstructor20()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor21

@Test
void testConstructor21()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor22

@Test
void testConstructor22()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor23

@Test
void testConstructor23()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor24

@Test
void testConstructor24()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor25

@Test
void testConstructor25()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor26

@Test
void testConstructor26()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor27

@Test
void testConstructor27()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor28

@Test
void testConstructor28()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor29

@Test
void testConstructor29()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor30

@Test
void testConstructor30()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor31

@Test
void testConstructor31()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor32

@Test
void testConstructor32()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor33

@Test
void testConstructor33()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor34

@Test
void testConstructor34()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor35

@Test
void testConstructor35()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor36

@Test
void testConstructor36()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor37

@Test
void testConstructor37()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor38

@Test
void testConstructor38()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor39

@Test
void testConstructor39()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor40

@Test
void testConstructor40()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor41

@Test
void testConstructor41()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor42

@Test
void testConstructor42()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor43

@Test
void testConstructor43()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor44

@Test
void testConstructor44()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor45

@Test
void testConstructor45()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor46

@Test
void testConstructor46()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor47

@Test
void testConstructor47()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor48

@Test
void testConstructor48()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor49

@Test
void testConstructor49()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor50

@Test
void testConstructor50()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor51

@Test
void testConstructor51()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor52

@Test
void testConstructor52()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor53

@Test
void testConstructor53()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor54

@Test
void testConstructor54()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor55

@Test
void testConstructor55()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor56

@Test
void testConstructor56()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor57

@Test
void testConstructor57()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor58

@Test
void testConstructor58()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor59

@Test
void testConstructor59()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor60

@Test
void testConstructor60()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor61

@Test
void testConstructor61()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor62

@Test
void testConstructor62()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor63

@Test
void testConstructor63()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor64

@Test
void testConstructor64()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor65

@Test
void testConstructor65()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor66

@Test
void testConstructor66()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor67

@Test
void testConstructor67()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor68

@Test
void testConstructor68()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor69

@Test
void testConstructor69()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor70

@Test
void testConstructor70()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor71

@Test
void testConstructor71()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor72

@Test
void testConstructor72()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor73

@Test
void testConstructor73()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor74

@Test
void testConstructor74()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testGetSetThreshold

@Test
void testGetSetThreshold()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetComputeAndKeepInliersEnabled

@Test
void testIsSetComputeAndKeepInliersEnabled()
                                    throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetComputeAndKeepResidualsEnabled

@Test
void testIsSetComputeAndKeepResidualsEnabled()
                                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasX

@Test
void testGetSetBiasX()
              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasY

@Test
void testGetSetBiasY()
              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasZ

@Test
void testGetSetBiasZ()
              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasXAsAcceleration

@Test
void testGetSetBiasXAsAcceleration()
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasYAsAcceleration

@Test
void testGetSetBiasYAsAcceleration()
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasZAsAcceleration

@Test
void testGetSetBiasZAsAcceleration()
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetBiasCoordinates1

@Test
void testSetBiasCoordinates1()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetBiasCoordinates2

@Test
void testSetBiasCoordinates2()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasAsTriad

@Test
void testGetSetBiasAsTriad()
                    throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialSx

@Test
void testGetSetInitialSx()
                  throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialSy

@Test
void testGetSetInitialSy()
                  throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialSz

@Test
void testGetSetInitialSz()
                  throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMxy

@Test
void testGetSetInitialMxy()
                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMxz

@Test
void testGetSetInitialMxz()
                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMyx

@Test
void testGetSetInitialMyx()
                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMyz

@Test
void testGetSetInitialMyz()
                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMzx

@Test
void testGetSetInitialMzx()
                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMzy

@Test
void testGetSetInitialMzy()
                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialScalingFactors

@Test
void testGetSetInitialScalingFactors()
                              throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialCrossCouplingErrors

@Test
void testGetSetInitialCrossCouplingErrors()
                                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testSetInitialScalingFactorsAndCrossCouplingErrors

@Test
void testSetInitialScalingFactorsAndCrossCouplingErrors()
                                                 throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetBias

@Test
void testGetSetBias()
             throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasAsMatrix

@Test
void testGetSetBiasAsMatrix()
                     throws com.irurueta.navigation.LockedException,
com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.algebra.WrongSizeException

testGetSetInitialMa

@Test
void testGetSetInitialMa()
                  throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetMeasurements

@Test
void testGetSetMeasurements()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetCommonAxisUsed

@Test
void testIsSetCommonAxisUsed()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

@Test
void testGetSetListener()
                 throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetGroundTruthGravityNorm1

@Test
void testGetSetGroundTruthGravityNorm1()
                                throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetGroundTruthGravityNorm2

@Test
void testGetSetGroundTruthGravityNorm2()
                                throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsReady

@Test
void testIsReady()
          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetProgressDelta

@Test
void testGetSetProgressDelta()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetConfidence

@Test
void testGetSetConfidence()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetMaxIterations

@Test
void testGetSetMaxIterations()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetResultRefined

@Test
void testIsSetResultRefined()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetCovarianceKept

@Test
void testIsSetCovarianceKept()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetQualityScores

@Test
void testGetSetQualityScores()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetPreliminarySubsetSize

@Test
void testGetSetPreliminarySubsetSize()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testCalibrateGeneralNoNoiseInlier

@Test
void testCalibrateGeneralNoNoiseInlier()
                                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateCommonAxisNoNoiseInlier

@Test
void testCalibrateCommonAxisNoNoiseInlier()
                                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateGeneralWithInlierNoise

@Test
void testCalibrateGeneralWithInlierNoise()
                                  throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateCommonAxisWithInlierNoise

@Test
void testCalibrateCommonAxisWithInlierNoise()
                                     throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateGeneralNoRefinement

@Test
void testCalibrateGeneralNoRefinement()
                               throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

onCalibrateStart

public void onCalibrateStart(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)

Specified by:

onCalibrateStart in interface RobustKnownBiasAndGravityNormAccelerometerCalibratorListener

onCalibrateEnd

public void onCalibrateEnd(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)

Specified by:

onCalibrateEnd in interface RobustKnownBiasAndGravityNormAccelerometerCalibratorListener

onCalibrateNextIteration

public void onCalibrateNextIteration(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator,
 int iteration)

Specified by:

onCalibrateNextIteration in interface RobustKnownBiasAndGravityNormAccelerometerCalibratorListener

onCalibrateProgressChange

public void onCalibrateProgressChange(RobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator,
 float progress)

Specified by:

onCalibrateProgressChange in interface RobustKnownBiasAndGravityNormAccelerometerCalibratorListener

reset

private void reset()

checkLocked

private void checkLocked(PROSACRobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)

assertEstimatedResult

private static void assertEstimatedResult(com.irurueta.algebra.Matrix ma,
 PROSACRobustKnownBiasAndGravityNormAccelerometerCalibrator calibrator)

checkCommonAxisCovariance

private static void checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)

checkGeneralCovariance

private static void checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)

generateBa

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

generateBg

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

generateMaGeneral

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

Throws:

com.irurueta.algebra.WrongSizeException

generateMaCommonAxis

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