Package com.irurueta.navigation.inertial.calibration.gyroscope

Class MSACRobustKnownBiasEasyGyroscopeCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.MSACRobustKnownBiasEasyGyroscopeCalibratorTest

All Implemented Interfaces:

RobustKnownBiasEasyGyroscopeCalibratorListener

class MSACRobustKnownBiasEasyGyroscopeCalibratorTest
extends Object
implements RobustKnownBiasEasyGyroscopeCalibratorListener

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 double	MAX_ANGLE_DEGREES
private static final double	MAX_ANGLE_VARIATION_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_ANGLE_VARIATION_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
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
MSACRobustKnownBiasEasyGyroscopeCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix mg, com.irurueta.algebra.Matrix gg, RobustKnownBiasEasyGyroscopeCalibrator calibrator)
private static void	checkCommonAxisAndGDependantCrossBiasesCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkGeneralAndGDependantCrossBiasesCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkLocked(MSACRobustKnownBiasEasyGyroscopeCalibrator calibrator)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static com.irurueta.algebra.Matrix	generateCommonAxisMg()
private static com.irurueta.algebra.Matrix	generateGeneralMg()
private static com.irurueta.algebra.Matrix	generateGg()
private static com.irurueta.algebra.Matrix	generateMa()
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onCalibrateEnd(RobustKnownBiasEasyGyroscopeCalibrator calibrator)
void	onCalibrateNextIteration(RobustKnownBiasEasyGyroscopeCalibrator calibrator, int iteration)
void	onCalibrateProgressChange(RobustKnownBiasEasyGyroscopeCalibrator calibrator, float progress)
void	onCalibrateStart(RobustKnownBiasEasyGyroscopeCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateCommonAxisAndGDependentCrossBiasesDisabledAndNoInlierNoise()
(package private) void	testCalibrateCommonAxisAndGDependentCrossBiasesDisabledWithInlierNoise()
(package private) void	testCalibrateCommonAxisAndGDependentCrossBiasesEnabledAndNoInlierNoise()
(package private) void	testCalibrateCommonAxisAndGDependentCrossBiasesEnabledWithInlierNoise()
(package private) void	testCalibrateGeneralAndGDependentCrossBiasesDisabledAndNoInlierNoise()
(package private) void	testCalibrateGeneralAndGDependentCrossBiasesDisabledWithInlierNoise()
(package private) void	testCalibrateGeneralAndGDependentCrossBiasesEnabledAndNoInlierNoise()
(package private) void	testCalibrateGeneralAndGDependentCrossBiasesEnabledWithInlierNoise()
(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	testConstructor2()
(package private) void	testConstructor3()
(package private) void	testConstructor4()
(package private) void	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetMinimumRequiredMeasurementsOrSequences()
(package private) void	testGetSetAccelerometerBias()
(package private) void	testGetSetAccelerometerBiasAsMatrix()
(package private) void	testGetSetAccelerometerBiasX()
(package private) void	testGetSetAccelerometerBiasXAsAcceleration()
(package private) void	testGetSetAccelerometerBiasY()
(package private) void	testGetSetAccelerometerBiasYAsAcceleration()
(package private) void	testGetSetAccelerometerBiasZ()
(package private) void	testGetSetAccelerometerBiasZAsAcceleration()
(package private) void	testGetSetAccelerometerMa()
(package private) void	testGetSetAccelerometerMxy()
(package private) void	testGetSetAccelerometerMxz()
(package private) void	testGetSetAccelerometerMyx()
(package private) void	testGetSetAccelerometerMyz()
(package private) void	testGetSetAccelerometerMzx()
(package private) void	testGetSetAccelerometerMzy()
(package private) void	testGetSetAccelerometerSx()
(package private) void	testGetSetAccelerometerSy()
(package private) void	testGetSetAccelerometerSz()
(package private) void	testGetSetBias()
(package private) void	testGetSetBiasAngularSpeedX()
(package private) void	testGetSetBiasAngularSpeedY()
(package private) void	testGetSetBiasAngularSpeedZ()
(package private) void	testGetSetBiasAsMatrix()
(package private) void	testGetSetBiasAsTriad()
(package private) void	testGetSetBiasX()
(package private) void	testGetSetBiasY()
(package private) void	testGetSetBiasZ()
(package private) void	testGetSetConfidence()
(package private) void	testGetSetInitialGg()
(package private) void	testGetSetInitialMg()
(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	testGetSetInitialSx()
(package private) void	testGetSetInitialSy()
(package private) void	testGetSetInitialSz()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxIterations()
(package private) void	testGetSetPreliminarySubsetSize()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScores()
(package private) void	testGetSetSequences()
(package private) void	testGetSetThreshold()
(package private) void	testIsReady()
(package private) void	testIsSetCommonAxisUsed()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetGDependentCrossBiasesEstimated()
(package private) void	testIsSetResultRefined()
(package private) void	testSetAccelerometerBias1()
(package private) void	testSetAccelerometerBias2()
(package private) void	testSetAccelerometerCrossCouplingErrors()
(package private) void	testSetAccelerometerScalingFactors()
(package private) void	testSetAccelerometerScalingFactorsAndCrossCouplingErrors()
(package private) void	testSetBiasCoordinates1()
(package private) void	testSetBiasCoordinates2()
(package private) void	testSetInitialCrossCouplingErrors()
(package private) void	testSetInitialScalingFactors()
(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_ANGLE_VARIATION_DEGREES

private static final double MIN_ANGLE_VARIATION_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_VARIATION_DEGREES

private static final double MAX_ANGLE_VARIATION_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

OUTLIER_PERCENTAGE

private static final int OUTLIER_PERCENTAGE

See Also:

• Constant Field Values

THRESHOLD

private static final double 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

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_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

MSACRobustKnownBiasEasyGyroscopeCalibratorTest

MSACRobustKnownBiasEasyGyroscopeCalibratorTest()

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

testGetSetThreshold

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBiasX

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBiasY

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBiasZ

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBiasXAsAcceleration

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBiasYAsAcceleration

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBiasZAsAcceleration

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

Throws:

com.irurueta.navigation.LockedException

testSetAccelerometerBias1

@Test
void testSetAccelerometerBias1()
                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAccelerometerBias2

@Test
void testSetAccelerometerBias2()
                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBias

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerBiasAsMatrix

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerSx

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerSy

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerSz

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerMxy

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerMxz

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerMyx

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerMyz

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerMzx

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerMzy

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testSetAccelerometerScalingFactors

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testSetAccelerometerCrossCouplingErrors

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testSetAccelerometerScalingFactorsAndCrossCouplingErrors

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerometerMa

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

Throws:

com.irurueta.algebra.WrongSizeException

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

testGetSetBiasAngularSpeedX

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasAngularSpeedY

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBiasAngularSpeedZ

@Test
void testGetSetBiasAngularSpeedZ()
                          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

testSetInitialScalingFactors

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testSetInitialCrossCouplingErrors

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMg

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialGg

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetSequences

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

Throws:

com.irurueta.navigation.LockedException

testIsSetCommonAxisUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetGDependentCrossBiasesEstimated

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

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetMinimumRequiredMeasurementsOrSequences

@Test
void testGetMinimumRequiredMeasurementsOrSequences()
                                            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

testCalibrateCommonAxisAndGDependentCrossBiasesDisabledAndNoInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

testCalibrateGeneralAndGDependentCrossBiasesDisabledAndNoInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

testCalibrateCommonAxisAndGDependentCrossBiasesEnabledAndNoInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

testCalibrateGeneralAndGDependentCrossBiasesEnabledAndNoInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

testCalibrateCommonAxisAndGDependentCrossBiasesDisabledWithInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

testCalibrateGeneralAndGDependentCrossBiasesDisabledWithInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

testCalibrateCommonAxisAndGDependentCrossBiasesEnabledWithInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

testCalibrateGeneralAndGDependentCrossBiasesEnabledWithInlierNoise

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.RotationException

onCalibrateStart

public void onCalibrateStart(RobustKnownBiasEasyGyroscopeCalibrator calibrator)

Specified by:

onCalibrateStart in interface RobustKnownBiasEasyGyroscopeCalibratorListener

onCalibrateEnd

public void onCalibrateEnd(RobustKnownBiasEasyGyroscopeCalibrator calibrator)

Specified by:

onCalibrateEnd in interface RobustKnownBiasEasyGyroscopeCalibratorListener

onCalibrateNextIteration

public void onCalibrateNextIteration(RobustKnownBiasEasyGyroscopeCalibrator calibrator,
 int iteration)

Specified by:

onCalibrateNextIteration in interface RobustKnownBiasEasyGyroscopeCalibratorListener

onCalibrateProgressChange

public void onCalibrateProgressChange(RobustKnownBiasEasyGyroscopeCalibrator calibrator,
 float progress)

Specified by:

onCalibrateProgressChange in interface RobustKnownBiasEasyGyroscopeCalibratorListener

reset

private void reset()

checkLocked

private static void checkLocked(MSACRobustKnownBiasEasyGyroscopeCalibrator calibrator)

assertEstimatedResult

private static void assertEstimatedResult(com.irurueta.algebra.Matrix mg,
 com.irurueta.algebra.Matrix gg,
 RobustKnownBiasEasyGyroscopeCalibrator calibrator)

checkCommonAxisAndGDependantCrossBiasesCovariance

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

checkGeneralAndGDependantCrossBiasesCovariance

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

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()

generateMa

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

Throws:

com.irurueta.algebra.WrongSizeException

generateCommonAxisMg

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

Throws:

com.irurueta.algebra.WrongSizeException

generateGeneralMg

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