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

Class MagneticFluxDensityTriadStaticIntervalDetectorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.MagneticFluxDensityTriadStaticIntervalDetectorTest

All Implemented Interfaces:

MagneticFluxDensityTriadStaticIntervalDetectorListener, TriadStaticIntervalDetectorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,MagneticFluxDensityTriadStaticIntervalDetector>

class MagneticFluxDensityTriadStaticIntervalDetectorTest
extends Object
implements MagneticFluxDensityTriadStaticIntervalDetectorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	dynamicIntervalDetected
private static final Calendar	END_CALENDAR
private static final long	END_TIMESTAMP_MILLIS
private int	error
private double	errorAccumulatedNoiseLevel
private double	errorInstantaneousNoiseLevel
private TriadStaticIntervalDetector.ErrorReason	errorReason
private int	initializationCompleted
private int	initializationStarted
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 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_ABSOLUTE_ERROR
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
private int	staticIntervalDetected
private static final double	TIME_INTERVAL_SECONDS

Constructor Summary

Constructors

Constructor	Description
MagneticFluxDensityTriadStaticIntervalDetectorTest()

Method Summary

Modifier and Type	Method	Description
private void	checkLocked(MagneticFluxDensityTriadStaticIntervalDetector detector)
private static com.irurueta.navigation.frames.NEDPosition	createPosition(com.irurueta.statistics.UniformRandomizer randomizer)
private static long	createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.navigation.frames.CoordinateTransformation	generateBodyC(com.irurueta.statistics.UniformRandomizer randomizer)
private static double[]	generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)
private static BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
private static MagneticFluxDensityTriad	generateTriad(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)
void	onDynamicIntervalDetected(MagneticFluxDensityTriadStaticIntervalDetector 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(MagneticFluxDensityTriadStaticIntervalDetector detector, double accumulatedNoiseLevel, double instantaneousNoiseLevel, TriadStaticIntervalDetector.ErrorReason reason)
void	onInitializationCompleted(MagneticFluxDensityTriadStaticIntervalDetector detector, double baseNoiseLevel)
void	onInitializationStarted(MagneticFluxDensityTriadStaticIntervalDetector detector)
void	onReset(MagneticFluxDensityTriadStaticIntervalDetector detector)
void	onStaticIntervalDetected(MagneticFluxDensityTriadStaticIntervalDetector 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

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

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

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

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

reset

private int reset

errorAccumulatedNoiseLevel

private double errorAccumulatedNoiseLevel

errorInstantaneousNoiseLevel

private double errorInstantaneousNoiseLevel

errorReason

private TriadStaticIntervalDetector.ErrorReason errorReason

Constructor Details

MagneticFluxDensityTriadStaticIntervalDetectorTest

MagneticFluxDensityTriadStaticIntervalDetectorTest()

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.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
IOException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

IOException

com.irurueta.navigation.LockedException

testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset2

@Test
void testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset2()
                                                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
IOException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

IOException

com.irurueta.navigation.LockedException

testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset3

@Test
void testProcessWithSuccessfulInitializationStaticAndDynamicPeriodAndReset3()
                                                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
IOException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

IOException

com.irurueta.navigation.LockedException

testProcessWithExcessiveOverallNoiseDuringInitialization

@Test
void testProcessWithExcessiveOverallNoiseDuringInitialization()
                                                       throws IOException,
com.irurueta.navigation.LockedException

Throws:

IOException

com.irurueta.navigation.LockedException

testProcessWithSuddenMotionDuringInitialization

@Test
void testProcessWithSuddenMotionDuringInitialization()
                                              throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
IOException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

IOException

com.irurueta.navigation.LockedException

onInitializationStarted

public void onInitializationStarted(MagneticFluxDensityTriadStaticIntervalDetector detector)

Specified by:

onInitializationStarted in interface TriadStaticIntervalDetectorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,MagneticFluxDensityTriadStaticIntervalDetector>

onInitializationCompleted

public void onInitializationCompleted(MagneticFluxDensityTriadStaticIntervalDetector detector,
 double baseNoiseLevel)

Specified by:

onInitializationCompleted in interface TriadStaticIntervalDetectorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,MagneticFluxDensityTriadStaticIntervalDetector>

onError

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

Specified by:

onError in interface TriadStaticIntervalDetectorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,MagneticFluxDensityTriadStaticIntervalDetector>

onStaticIntervalDetected

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

Specified by:

onStaticIntervalDetected in interface TriadStaticIntervalDetectorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,MagneticFluxDensityTriadStaticIntervalDetector>

onDynamicIntervalDetected

public void onDynamicIntervalDetected(MagneticFluxDensityTriadStaticIntervalDetector 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.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,MagneticFluxDensityTriadStaticIntervalDetector>

onReset

public void onReset(MagneticFluxDensityTriadStaticIntervalDetector detector)

Specified by:

onReset in interface TriadStaticIntervalDetectorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,MagneticFluxDensityTriadStaticIntervalDetector>

reset

private void reset()

checkLocked

private void checkLocked(MagneticFluxDensityTriadStaticIntervalDetector detector)

generateTriad

private static MagneticFluxDensityTriad generateTriad(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)

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)