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

Class MidPointQuaternionStepIntegratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.gyroscope.MidPointQuaternionStepIntegratorTest

class MidPointQuaternionStepIntegratorTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_ANGULAR_SPEED_DEGREES_PER_SECOND
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_ANGULAR_SPEED_DEGREES_PER_SECOND
private static final int	NUM_SAMPLES
private static final double	SMALL_ABSOLUTE_ERROR
private static final double	TIME_INTERVAL
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
MidPointQuaternionStepIntegratorTest()

Method Summary

Modifier and Type	Method	Description
(package private) void	compareErrors_whenNoNoise_haveExpectedRelativeAccuracy()
private static com.irurueta.geometry.Quaternion	getInitialAttitude()
(package private) void	integrate_whenMultipleSteps_computesExpectedResult()
(package private) void	integrate_whenOneStep_computesExpectedResult()

Methods inherited from class java.lang.Object

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

Field Details

TIME_INTERVAL

private static final double TIME_INTERVAL

See Also:

• Constant Field Values

NUM_SAMPLES

private static final int NUM_SAMPLES

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

MIN_ANGULAR_SPEED_DEGREES_PER_SECOND

private static final double MIN_ANGULAR_SPEED_DEGREES_PER_SECOND

See Also:

• Constant Field Values

MAX_ANGULAR_SPEED_DEGREES_PER_SECOND

private static final double MAX_ANGULAR_SPEED_DEGREES_PER_SECOND

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

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ABSOLUTE_ERROR

private static final double SMALL_ABSOLUTE_ERROR

See Also:

• Constant Field Values

Constructor Details

MidPointQuaternionStepIntegratorTest

MidPointQuaternionStepIntegratorTest()

Method Details

integrate_whenOneStep_computesExpectedResult

@Test
void integrate_whenOneStep_computesExpectedResult()
                                           throws com.irurueta.geometry.RotationException

Throws:

com.irurueta.geometry.RotationException

integrate_whenMultipleSteps_computesExpectedResult

@Test
void integrate_whenMultipleSteps_computesExpectedResult()
                                                 throws com.irurueta.geometry.RotationException

Throws:

com.irurueta.geometry.RotationException

compareErrors_whenNoNoise_haveExpectedRelativeAccuracy

@Test
void compareErrors_whenNoNoise_haveExpectedRelativeAccuracy()
                                                     throws com.irurueta.geometry.RotationException

Throws:

com.irurueta.geometry.RotationException

getInitialAttitude

private static com.irurueta.geometry.Quaternion getInitialAttitude()