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

Class MagnetometerMeasurementGeneratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.generators.MagnetometerMeasurementGeneratorTest

All Implemented Interfaces:

MagnetometerMeasurementsGeneratorListener, MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

class MagnetometerMeasurementGeneratorTest
extends Object
implements MagnetometerMeasurementsGeneratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	DEG_TO_RAD
private int	dynamicIntervalDetected
private static final Calendar	END_CALENDAR
private static final long	END_TIMESTAMP_MILLIS
private int	error
private int	initializationCompleted
private int	initializationStarted
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAGNETOMETER_NOISE_STD
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_HARD_IRON
private static final double	MAX_HEIGHT_METERS
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MAX_SOFT_IRON
private int	mDynamicIntervalSkipped
private final List<StandardDeviationBodyMagneticFluxDensity>	measurements
private int	mGeneratedMeasurement
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_HARD_IRON
private static final double	MIN_HEIGHT_METERS
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	MIN_SOFT_IRON
private int	reset
private static final double	SMALL_MAGNETOMETER_NOISE_STD
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
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
MagnetometerMeasurementGeneratorTest()

Method Summary

Modifier and Type	Method	Description
private void	checkLocked(MagnetometerMeasurementsGenerator generator)
private static com.irurueta.navigation.frames.NEDPosition	createPosition(com.irurueta.statistics.UniformRandomizer randomizer)
private static long	createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)
private static BodyMagneticFluxDensity	generateB(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, Date timestamp, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static com.irurueta.navigation.frames.CoordinateTransformation	generateBodyC(com.irurueta.statistics.UniformRandomizer randomizer)
private static void	generateDynamicSamples(MagnetometerMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.ECEFFrame ecefFrame, com.irurueta.navigation.frames.NEDFrame nedFrame, IMUErrors errors, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, WMMEarthMagneticFluxDensityEstimator wmmEstimator, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation cnb, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, boolean changePosition)
private static com.irurueta.algebra.Matrix	generateGg()
private static double[]	generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static com.irurueta.algebra.Matrix	generateMg()
private static com.irurueta.algebra.Matrix	generateSoftIronCommonAxis()
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
private static void	generateStaticSamples(MagnetometerMeasurementsGenerator generator, int numSamples, BodyKinematics trueKinematics, IMUErrors errors, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, WMMEarthMagneticFluxDensityEstimator wmmEstimator, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation cnb, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onDynamicIntervalDetected(MagnetometerMeasurementsGenerator generator)
void	onDynamicIntervalSkipped(MagnetometerMeasurementsGenerator generator)
void	onError(MagnetometerMeasurementsGenerator generator, TriadStaticIntervalDetector.ErrorReason reason)
void	onGeneratedMeasurement(MagnetometerMeasurementsGenerator generator, StandardDeviationBodyMagneticFluxDensity measurement)
void	onInitializationCompleted(MagnetometerMeasurementsGenerator generator, double baseNoiseLevel)
void	onInitializationStarted(MagnetometerMeasurementsGenerator generator)
void	onReset(MagnetometerMeasurementsGenerator generator)
void	onStaticIntervalDetected(MagnetometerMeasurementsGenerator generator)
void	onStaticIntervalSkipped(MagnetometerMeasurementsGenerator 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	testGetSetWindowSize()
(package private) void	testProcessCalibrateAndResetWithNoiseAndCommonAxis()
(package private) void	testProcessCalibrateAndResetWithNoiseAndGeneralCase()
(package private) void	testProcessCalibrateAndResetWithSmallNoiseAndCommonAxis()
(package private) void	testProcessCalibrateAndResetWithSmallNoiseAndGeneralCase()
(package private) void	testProcessErrorWithExcessiveOverallNoise()
(package private) void	testProcessSkipDynamicInterval()
(package private) void	testProcessSkipStaticInterval()
(package private) void	testProcessSmallNoiseWithRotationAndPositionChange()

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_HARD_IRON

private static final double MIN_HARD_IRON

See Also:

• Constant Field Values

MAX_HARD_IRON

private static final double MAX_HARD_IRON

See Also:

• Constant Field Values

MIN_SOFT_IRON

private static final double MIN_SOFT_IRON

See Also:

• Constant Field Values

MAX_SOFT_IRON

private static final double MAX_SOFT_IRON

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_METERS

private static final double MIN_HEIGHT_METERS

See Also:

• Constant Field Values

MAX_HEIGHT_METERS

private static final double MAX_HEIGHT_METERS

See Also:

• Constant Field Values

SMALL_MAGNETOMETER_NOISE_STD

private static final double SMALL_MAGNETOMETER_NOISE_STD

See Also:

• Constant Field Values

MAGNETOMETER_NOISE_STD

private static final double MAGNETOMETER_NOISE_STD

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

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

START_CALENDAR

private static final Calendar START_CALENDAR

END_CALENDAR

private static final Calendar END_CALENDAR

START_TIMESTAMP_MILLIS

private static final long START_TIMESTAMP_MILLIS

END_TIMESTAMP_MILLIS

private static final long END_TIMESTAMP_MILLIS

initializationStarted

private int initializationStarted

initializationCompleted

private int initializationCompleted

error

private int error

staticIntervalDetected

private int staticIntervalDetected

dynamicIntervalDetected

private int dynamicIntervalDetected

staticIntervalSkipped

private int staticIntervalSkipped

mDynamicIntervalSkipped

private int mDynamicIntervalSkipped

mGeneratedMeasurement

private int mGeneratedMeasurement

reset

private int reset

measurements

private final List<StandardDeviationBodyMagneticFluxDensity> measurements

Constructor Details

MagnetometerMeasurementGeneratorTest

MagnetometerMeasurementGeneratorTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

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

testProcessCalibrateAndResetWithSmallNoiseAndCommonAxis

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IOException

testProcessCalibrateAndResetWithSmallNoiseAndGeneralCase

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IOException

testProcessCalibrateAndResetWithNoiseAndCommonAxis

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IOException

testProcessCalibrateAndResetWithNoiseAndGeneralCase

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IOException

testProcessSmallNoiseWithRotationAndPositionChange

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IOException

testProcessErrorWithExcessiveOverallNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

IOException

testProcessSkipStaticInterval

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

IOException

testProcessSkipDynamicInterval

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

IOException

onInitializationStarted

public void onInitializationStarted(MagnetometerMeasurementsGenerator generator)

Specified by:

onInitializationStarted in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onInitializationCompleted

public void onInitializationCompleted(MagnetometerMeasurementsGenerator generator,
 double baseNoiseLevel)

Specified by:

onInitializationCompleted in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onError

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

Specified by:

onError in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onStaticIntervalDetected

public void onStaticIntervalDetected(MagnetometerMeasurementsGenerator generator)

Specified by:

onStaticIntervalDetected in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onDynamicIntervalDetected

public void onDynamicIntervalDetected(MagnetometerMeasurementsGenerator generator)

Specified by:

onDynamicIntervalDetected in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onStaticIntervalSkipped

public void onStaticIntervalSkipped(MagnetometerMeasurementsGenerator generator)

Specified by:

onStaticIntervalSkipped in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onDynamicIntervalSkipped

public void onDynamicIntervalSkipped(MagnetometerMeasurementsGenerator generator)

Specified by:

onDynamicIntervalSkipped in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onGeneratedMeasurement

public void onGeneratedMeasurement(MagnetometerMeasurementsGenerator generator,
 StandardDeviationBodyMagneticFluxDensity measurement)

Specified by:

onGeneratedMeasurement in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

onReset

public void onReset(MagnetometerMeasurementsGenerator generator)

Specified by:

onReset in interface MeasurementsGeneratorListener<StandardDeviationBodyMagneticFluxDensity,MagnetometerMeasurementsGenerator,MagnetometerMeasurementsGeneratorListener,BodyKinematicsAndMagneticFluxDensity>

reset

private void reset()

checkLocked

private void checkLocked(MagnetometerMeasurementsGenerator generator)

generateB

private static BodyMagneticFluxDensity generateB(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.CoordinateTransformation cnb)

generateBodyC

private static com.irurueta.navigation.frames.CoordinateTransformation generateBodyC(com.irurueta.statistics.UniformRandomizer randomizer)

generateMeasuredMagneticFluxDensity

private static BodyMagneticFluxDensity generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input,
 double[] hardIron,
 com.irurueta.algebra.Matrix softIron)

generateHardIron

private static double[] generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)

generateSoftIronCommonAxis

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

generateSoftIronGeneral

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

createPosition

private static com.irurueta.navigation.frames.NEDPosition createPosition(com.irurueta.statistics.UniformRandomizer randomizer)

createTimestamp

private static long createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)

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

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 void generateStaticSamples(MagnetometerMeasurementsGenerator generator,
 int numSamples,
 BodyKinematics trueKinematics,
 IMUErrors errors,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation cnb,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
                                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private static void generateDynamicSamples(MagnetometerMeasurementsGenerator generator,
 int numSamples,
 BodyKinematics trueKinematics,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 com.irurueta.navigation.frames.NEDFrame nedFrame,
 IMUErrors errors,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation cnb,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 boolean changePosition)
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException