Package com.irurueta.navigation.inertial.calibration.bias

Class BodyKinematicsBiasEstimatorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.bias.BodyKinematicsBiasEstimatorTest

All Implemented Interfaces:

BodyKinematicsBiasEstimatorListener

class BodyKinematicsBiasEstimatorTest
extends Object
implements BodyKinematicsBiasEstimatorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	ACCELEROMETER_BIAS_ERROR
private static final double	ACCELEROMETER_NOISE_ROOT_PSD_ERROR
private int	bodyKinematicsAdded
private static final double	DEG_TO_RAD
private static final double	GYRO_BIAS_ERROR
private static final double	GYRO_NOISE_ROOT_PSD_ERROR
private static final double	LARGE_ABSOLUTE_ERROR
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 double	MAX_TIME_INTERVAL
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	MIN_TIME_INTERVAL
private static final int	N_SAMPLES
private int	reset
private int	start
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
BodyKinematicsBiasEstimatorTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(BodyKinematicsBiasEstimator estimator)
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()
void	onBodyKinematicsAdded(BodyKinematicsBiasEstimator estimator)
void	onReset(BodyKinematicsBiasEstimator estimator)
void	onStart(BodyKinematicsBiasEstimator estimator)
private void	reset()
(package private) void	testAddBodyKinematicsAndReset()
(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	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetAccelerometerBias()
(package private) void	testGetEcefFrame()
(package private) void	testGetGyroBias()
(package private) void	testGetNedFrame()
(package private) void	testGetSetEcefC()
(package private) void	testGetSetEcefPosition()
(package private) void	testGetSetListener()
(package private) void	testGetSetNedC()
(package private) void	testGetSetNedPosition()
(package private) void	testGetSetTimeInterval()
(package private) void	testGetTimeIntervalAsTime()
(package private) void	testSetEcefPosition1()
(package private) void	testSetEcefPosition2()
(package private) void	testSetEcefPosition3()
(package private) void	testSetEcefPositionAndEcefOrientation1()
(package private) void	testSetEcefPositionAndEcefOrientation2()
(package private) void	testSetEcefPositionAndEcefOrientation3()
(package private) void	testSetEcefPositionAndEcefOrientation4()
(package private) void	testSetEcefPositionAndNedOrientation1()
(package private) void	testSetEcefPositionAndNedOrientation2()
(package private) void	testSetEcefPositionAndNedOrientation3()
(package private) void	testSetEcefPositionAndNedOrientation4()
(package private) void	testSetNedPosition1()
(package private) void	testSetNedPosition2()
(package private) void	testSetNedPosition3()
(package private) void	testSetNedPositionAndEcefOrientation1()
(package private) void	testSetNedPositionAndEcefOrientation2()
(package private) void	testSetNedPositionAndEcefOrientation3()
(package private) void	testSetNedPositionAndEcefOrientation4()
(package private) void	testSetNedPositionAndNedOrientation1()
(package private) void	testSetNedPositionAndNedOrientation2()
(package private) void	testSetNedPositionAndNedOrientation3()
(package private) void	testSetNedPositionAndNedOrientation4()

Methods inherited from class java.lang.Object

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

Field Details

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

N_SAMPLES

private static final int N_SAMPLES

See Also:

• Constant Field Values

MIN_TIME_INTERVAL

private static final double MIN_TIME_INTERVAL

See Also:

• Constant Field Values

MAX_TIME_INTERVAL

private static final double MAX_TIME_INTERVAL

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

ACCELEROMETER_BIAS_ERROR

private static final double ACCELEROMETER_BIAS_ERROR

See Also:

• Constant Field Values

GYRO_BIAS_ERROR

private static final double GYRO_BIAS_ERROR

See Also:

• Constant Field Values

ACCELEROMETER_NOISE_ROOT_PSD_ERROR

private static final double ACCELEROMETER_NOISE_ROOT_PSD_ERROR

See Also:

• Constant Field Values

GYRO_NOISE_ROOT_PSD_ERROR

private static final double GYRO_NOISE_ROOT_PSD_ERROR

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

start

private int start

bodyKinematicsAdded

private int bodyKinematicsAdded

reset

private int reset

Constructor Details

BodyKinematicsBiasEstimatorTest

BodyKinematicsBiasEstimatorTest()

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,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

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,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor7

@Test
void testConstructor7()
               throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor8

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

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor9

@Test
void testConstructor9()
               throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

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,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor14

@Test
void testConstructor14()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor15

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

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor16

@Test
void testConstructor16()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

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,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor21

@Test
void testConstructor21()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor22

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

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor23

@Test
void testConstructor23()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

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,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor28

@Test
void testConstructor28()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor29

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

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor30

@Test
void testConstructor30()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

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,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor35

@Test
void testConstructor35()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor36

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

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor37

@Test
void testConstructor37()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

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,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor42

@Test
void testConstructor42()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testGetSetTimeInterval

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

Throws:

com.irurueta.navigation.LockedException

testGetTimeIntervalAsTime

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

Throws:

com.irurueta.navigation.LockedException

testGetSetEcefPosition

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

Throws:

com.irurueta.navigation.LockedException

testSetEcefPosition1

@Test
void testSetEcefPosition1()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetEcefPosition2

@Test
void testSetEcefPosition2()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetEcefPosition3

@Test
void testSetEcefPosition3()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetEcefFrame

@Test
void testGetEcefFrame()

testGetNedFrame

@Test
void testGetNedFrame()

testGetSetNedPosition

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

Throws:

com.irurueta.navigation.LockedException

testSetNedPosition1

@Test
void testSetNedPosition1()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetNedPosition2

@Test
void testSetNedPosition2()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetNedPosition3

@Test
void testSetNedPosition3()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetEcefC

@Test
void testGetSetEcefC()
              throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testGetSetNedC

@Test
void testGetSetNedC()
             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation1

@Test
void testSetNedPositionAndNedOrientation1()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation2

@Test
void testSetNedPositionAndNedOrientation2()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation3

@Test
void testSetNedPositionAndNedOrientation3()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation4

@Test
void testSetNedPositionAndNedOrientation4()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation1

@Test
void testSetEcefPositionAndEcefOrientation1()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation2

@Test
void testSetEcefPositionAndEcefOrientation2()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation3

@Test
void testSetEcefPositionAndEcefOrientation3()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation4

@Test
void testSetEcefPositionAndEcefOrientation4()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation1

@Test
void testSetNedPositionAndEcefOrientation1()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation2

@Test
void testSetNedPositionAndEcefOrientation2()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation3

@Test
void testSetNedPositionAndEcefOrientation3()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation4

@Test
void testSetNedPositionAndEcefOrientation4()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation1

@Test
void testSetEcefPositionAndNedOrientation1()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation2

@Test
void testSetEcefPositionAndNedOrientation2()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation3

@Test
void testSetEcefPositionAndNedOrientation3()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation4

@Test
void testSetEcefPositionAndNedOrientation4()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetAccelerometerBias

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

Throws:

com.irurueta.algebra.WrongSizeException

testGetGyroBias

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

Throws:

com.irurueta.algebra.WrongSizeException

testAddBodyKinematicsAndReset

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

onStart

public void onStart(BodyKinematicsBiasEstimator estimator)

Specified by:

onStart in interface BodyKinematicsBiasEstimatorListener

onBodyKinematicsAdded

public void onBodyKinematicsAdded(BodyKinematicsBiasEstimator estimator)

Specified by:

onBodyKinematicsAdded in interface BodyKinematicsBiasEstimatorListener

onReset

public void onReset(BodyKinematicsBiasEstimator estimator)

Specified by:

onReset in interface BodyKinematicsBiasEstimatorListener

reset

private void reset()

checkLocked

private static void checkLocked(BodyKinematicsBiasEstimator estimator)

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()