Package com.irurueta.navigation.inertial.calibration.generators

Class GyroscopeMeasurementsGeneratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.generators.GyroscopeMeasurementsGeneratorTest

All Implemented Interfaces:

GyroscopeMeasurementsGeneratorListener, MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

class GyroscopeMeasurementsGeneratorTest
extends Object
implements GyroscopeMeasurementsGeneratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private final AccelerometerMeasurementsGeneratorListener	accelerometerGeneratorListener
private static final double	DEG_TO_RAD
private int	dynamicIntervalDetected
private int	dynamicIntervalSkipped
private int	error
private int	generatedMeasurement
private int	initializationCompleted
private int	initializationStarted
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_DELTA_ANGLE_DEGREES
private static final double	MAX_DELTA_POS_METERS
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private final List<StandardDeviationBodyKinematics>	measurements
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_DELTA_ANGLE_DEGREES
private static final double	MIN_DELTA_POS_METERS
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private int	reset
private final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>	sequences
private static final double	SMALL_ABSOLUTE_ERROR
private static final double	SMALL_ROOT_PSD
private int	staticIntervalDetected
private int	staticIntervalSkipped
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
GyroscopeMeasurementsGeneratorTest()

Method Summary

Modifier and Type	Method	Description
private void	checkLocked(GyroscopeMeasurementsGenerator generator)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>	generateDynamicSamples(GyroscopeMeasurementsGenerator generator, AccelerometerMeasurementsGenerator accelerometerGenerator, int numSamples, BodyKinematics trueKinematics, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.ECEFFrame ecefFrame, com.irurueta.navigation.frames.NEDFrame nedFrame, IMUErrors errors, int startSample, boolean changePosition)
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 boolean	generateStaticSamples(GyroscopeMeasurementsGenerator generator, AccelerometerMeasurementsGenerator accelerometerGenerator, int numSamples, BodyKinematics trueKinematics, IMUErrors errors, int startSample)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
private static double	interpolate(double value, double progress)
void	onDynamicIntervalDetected(GyroscopeMeasurementsGenerator generator)
void	onDynamicIntervalSkipped(GyroscopeMeasurementsGenerator generator)
void	onError(GyroscopeMeasurementsGenerator generator, TriadStaticIntervalDetector.ErrorReason reason)
void	onGeneratedMeasurement(GyroscopeMeasurementsGenerator generator, BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> measurement)
void	onInitializationCompleted(GyroscopeMeasurementsGenerator generator, double baseNoiseLevel)
void	onInitializationStarted(GyroscopeMeasurementsGenerator generator)
void	onReset(GyroscopeMeasurementsGenerator generator)
void	onStaticIntervalDetected(GyroscopeMeasurementsGenerator generator)
void	onStaticIntervalSkipped(GyroscopeMeasurementsGenerator generator)
private void	reset()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThreshold()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement()
(package private) void	testGetSetInitialStaticSamples()
(package private) void	testGetSetInstantaneousNoiseLevelFactor()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxDynamicSamples()
(package private) void	testGetSetMinStaticSamples()
(package private) void	testGetSetThresholdFactor()
(package private) void	testGetSetTimeInterval1()
(package private) void	testGetSetTimeInterval2()
(package private) void	testGetSetWindowSize()
(package private) void	testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndNoGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndWithGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetSmallNoiseMaGeneralAndNoGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetSmallNoiseMaGeneralAndWithGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetSmallNoiseWithRotationAndPositionChangeMaCommonAxisAndNoGDependentCrossBiases()
(package private) void	testProcessCalibrateAndResetWithNoiseMaCommonAxisAndNoGDependentCrossBiases()
(package private) void	testProcessErrorWithExcessiveOverallNoise()
(package private) void	testProcessSkipDynamicInterval()
(package private) void	testProcessSkipStaticInterval()

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

MIN_DELTA_POS_METERS

private static final double MIN_DELTA_POS_METERS

See Also:

• Constant Field Values

MAX_DELTA_POS_METERS

private static final double MAX_DELTA_POS_METERS

See Also:

• Constant Field Values

MIN_DELTA_ANGLE_DEGREES

private static final double MIN_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_DELTA_ANGLE_DEGREES

private static final double MAX_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ABSOLUTE_ERROR

private static final double SMALL_ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ROOT_PSD

private static final double SMALL_ROOT_PSD

See Also:

• Constant Field Values

initializationStarted

private int initializationStarted

initializationCompleted

private int initializationCompleted

error

private int error

staticIntervalDetected

private int staticIntervalDetected

dynamicIntervalDetected

private int dynamicIntervalDetected

staticIntervalSkipped

private int staticIntervalSkipped

dynamicIntervalSkipped

private int dynamicIntervalSkipped

generatedMeasurement

private int generatedMeasurement

reset

private int reset

sequences

private final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences

measurements

private final List<StandardDeviationBodyKinematics> measurements

accelerometerGeneratorListener

private final AccelerometerMeasurementsGeneratorListener accelerometerGeneratorListener

Constructor Details

GyroscopeMeasurementsGeneratorTest

GyroscopeMeasurementsGeneratorTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testGetSetTimeInterval1

@Test
void testGetSetTimeInterval1()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetTimeInterval2

@Test
void testGetSetTimeInterval2()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetMinStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMaxDynamicSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetSetWindowSize

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetThresholdFactor

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInstantaneousNoiseLevelFactor

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThreshold

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement

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

Throws:

com.irurueta.navigation.LockedException

testProcessCalibrateAndResetWithNoiseMaCommonAxisAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetWithNoiseMaCommonAxisAndNoGDependentCrossBiases()
                                                                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessCalibrateAndResetSmallNoiseMaGeneralAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseMaGeneralAndNoGDependentCrossBiases()
                                                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndNoGDependentCrossBiases()
                                                                           throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessCalibrateAndResetSmallNoiseMaGeneralAndWithGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseMaGeneralAndWithGDependentCrossBiases()
                                                                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndWithGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseMaCommonAxisAndWithGDependentCrossBiases()
                                                                             throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessSkipStaticInterval

@Test
void testProcessSkipStaticInterval()
                            throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessSkipDynamicInterval

@Test
void testProcessSkipDynamicInterval()
                             throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

testProcessErrorWithExcessiveOverallNoise

@Test
void testProcessErrorWithExcessiveOverallNoise()
                                        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

testProcessCalibrateAndResetSmallNoiseWithRotationAndPositionChangeMaCommonAxisAndNoGDependentCrossBiases

@Test
void testProcessCalibrateAndResetSmallNoiseWithRotationAndPositionChangeMaCommonAxisAndNoGDependentCrossBiases()
                                                                                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

onInitializationStarted

public void onInitializationStarted(GyroscopeMeasurementsGenerator generator)

Specified by:

onInitializationStarted in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onInitializationCompleted

public void onInitializationCompleted(GyroscopeMeasurementsGenerator generator,
 double baseNoiseLevel)

Specified by:

onInitializationCompleted in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onError

public void onError(GyroscopeMeasurementsGenerator generator,
 TriadStaticIntervalDetector.ErrorReason reason)

Specified by:

onError in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onStaticIntervalDetected

public void onStaticIntervalDetected(GyroscopeMeasurementsGenerator generator)

Specified by:

onStaticIntervalDetected in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onDynamicIntervalDetected

public void onDynamicIntervalDetected(GyroscopeMeasurementsGenerator generator)

Specified by:

onDynamicIntervalDetected in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onStaticIntervalSkipped

public void onStaticIntervalSkipped(GyroscopeMeasurementsGenerator generator)

Specified by:

onStaticIntervalSkipped in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onDynamicIntervalSkipped

public void onDynamicIntervalSkipped(GyroscopeMeasurementsGenerator generator)

Specified by:

onDynamicIntervalSkipped in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onGeneratedMeasurement

public void onGeneratedMeasurement(GyroscopeMeasurementsGenerator generator,
 BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> measurement)

Specified by:

onGeneratedMeasurement in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

onReset

public void onReset(GyroscopeMeasurementsGenerator generator)

Specified by:

onReset in interface MeasurementsGeneratorListener<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>,GyroscopeMeasurementsGenerator,GyroscopeMeasurementsGeneratorListener,TimedBodyKinematics>

reset

private void reset()

checkLocked

private void checkLocked(GyroscopeMeasurementsGenerator generator)

generateBa

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

generateBg

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

generateMaCommonAxis

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

Throws:

com.irurueta.algebra.WrongSizeException

generateMaGeneral

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

generateStaticSamples

private static boolean generateStaticSamples(GyroscopeMeasurementsGenerator generator,
 AccelerometerMeasurementsGenerator accelerometerGenerator,
 int numSamples,
 BodyKinematics trueKinematics,
 IMUErrors errors,
 int startSample)
                                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private static BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> generateDynamicSamples(GyroscopeMeasurementsGenerator generator,
 AccelerometerMeasurementsGenerator accelerometerGenerator,
 int numSamples,
 BodyKinematics trueKinematics,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 com.irurueta.navigation.frames.NEDFrame nedFrame,
 IMUErrors errors,
 int startSample,
 boolean changePosition)
                                                                                            throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

interpolate

private static double interpolate(double value,
 double progress)