Package com.irurueta.navigation.inertial.calibration.intervals

Class AngularSpeedTriadStaticIntervalDetectorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.AngularSpeedTriadStaticIntervalDetectorTest

All Implemented Interfaces:

AngularSpeedTriadStaticIntervalDetectorListener, TriadStaticIntervalDetectorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector>

class AngularSpeedTriadStaticIntervalDetectorTest
extends Object
implements AngularSpeedTriadStaticIntervalDetectorListener

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 int	error
private double	errorAccumulatedNoiseLevel
private double	errorInstantaneousNoiseLevel
private TriadStaticIntervalDetector.ErrorReason	errorReason
private int	initializationCompleted
private int	initializationStarted
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 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 int	staticIntervalDetected
private static final double	TIME_INTERVAL_SECONDS
private static final double	VERY_SMALL_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
AngularSpeedTriadStaticIntervalDetectorTest()

Method Summary

Modifier and Type	Method	Description
private void	checkLocked(AngularSpeedTriadStaticIntervalDetector detector)
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	generateMaGeneral()
private static com.irurueta.algebra.Matrix	generateMg()
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onDynamicIntervalDetected(AngularSpeedTriadStaticIntervalDetector detector, double instantaneousAvgX, double instantaneousAvgY, double instantaneousAvgZ, double instantaneousStdX, double instantaneousStdY, double instantaneousStdZ, double accumulatedAvgX, double accumulatedAvgY, double accumulatedAvgZ, double accumulatedStdX, double accumulatedStdY, double accumulatedStdZ)
void	onError(AngularSpeedTriadStaticIntervalDetector detector, double accumulatedNoiseLevel, double instantaneousNoiseLevel, TriadStaticIntervalDetector.ErrorReason reason)
void	onInitializationCompleted(AngularSpeedTriadStaticIntervalDetector detector, double baseNoiseLevel)
void	onInitializationStarted(AngularSpeedTriadStaticIntervalDetector detector)
void	onReset(AngularSpeedTriadStaticIntervalDetector detector)
void	onStaticIntervalDetected(AngularSpeedTriadStaticIntervalDetector detector, double instantaneousAvgX, double instantaneousAvgY, double instantaneousAvgZ, double instantaneousStdX, double instantaneousStdY, double instantaneousStdZ)
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	testGetSetThresholdFactor()
(package private) void	testGetSetTimeInterval1()
(package private) void	testGetSetTimeInterval2()
(package private) void	testGetSetWindowSize()
(package private) void	testProcessWithExcessiveOverallNoiseDuringInitialization()
(package private) void	testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset1()
(package private) void	testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset2()
(package private) void	testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset3()
(package private) void	testProcessWithSuddenMotionDuringInitialization()

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

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_SMALL_ABSOLUTE_ERROR

private static final double VERY_SMALL_ABSOLUTE_ERROR

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

reset

private int reset

errorAccumulatedNoiseLevel

private double errorAccumulatedNoiseLevel

errorInstantaneousNoiseLevel

private double errorInstantaneousNoiseLevel

errorReason

private TriadStaticIntervalDetector.ErrorReason errorReason

Constructor Details

AngularSpeedTriadStaticIntervalDetectorTest

AngularSpeedTriadStaticIntervalDetectorTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

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

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

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

testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset1

@Test
void testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset1()
                                                                     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

testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset2

@Test
void testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset2()
                                                                     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

testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset3

@Test
void testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset3()
                                                                     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

testProcessWithExcessiveOverallNoiseDuringInitialization

@Test
void testProcessWithExcessiveOverallNoiseDuringInitialization()
                                                       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

testProcessWithSuddenMotionDuringInitialization

@Test
void testProcessWithSuddenMotionDuringInitialization()
                                              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

onInitializationStarted

public void onInitializationStarted(AngularSpeedTriadStaticIntervalDetector detector)

Specified by:

onInitializationStarted in interface TriadStaticIntervalDetectorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector>

onInitializationCompleted

public void onInitializationCompleted(AngularSpeedTriadStaticIntervalDetector detector,
 double baseNoiseLevel)

Specified by:

onInitializationCompleted in interface TriadStaticIntervalDetectorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector>

onError

public void onError(AngularSpeedTriadStaticIntervalDetector detector,
 double accumulatedNoiseLevel,
 double instantaneousNoiseLevel,
 TriadStaticIntervalDetector.ErrorReason reason)

Specified by:

onError in interface TriadStaticIntervalDetectorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector>

onStaticIntervalDetected

public void onStaticIntervalDetected(AngularSpeedTriadStaticIntervalDetector detector,
 double instantaneousAvgX,
 double instantaneousAvgY,
 double instantaneousAvgZ,
 double instantaneousStdX,
 double instantaneousStdY,
 double instantaneousStdZ)

Specified by:

onStaticIntervalDetected in interface TriadStaticIntervalDetectorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector>

onDynamicIntervalDetected

public void onDynamicIntervalDetected(AngularSpeedTriadStaticIntervalDetector detector,
 double instantaneousAvgX,
 double instantaneousAvgY,
 double instantaneousAvgZ,
 double instantaneousStdX,
 double instantaneousStdY,
 double instantaneousStdZ,
 double accumulatedAvgX,
 double accumulatedAvgY,
 double accumulatedAvgZ,
 double accumulatedStdX,
 double accumulatedStdY,
 double accumulatedStdZ)

Specified by:

onDynamicIntervalDetected in interface TriadStaticIntervalDetectorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector>

onReset

public void onReset(AngularSpeedTriadStaticIntervalDetector detector)

Specified by:

onReset in interface TriadStaticIntervalDetectorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,AngularSpeedTriad,AngularSpeedTriadStaticIntervalDetector>

reset

private void reset()

checkLocked

private void checkLocked(AngularSpeedTriadStaticIntervalDetector detector)

generateBa

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

generateBg

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

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()