Package com.irurueta.navigation.inertial.calibration.magnetometer

Class KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorTest

All Implemented Interfaces:

KnownHardIronAndFrameMagnetometerCalibratorListener<KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator>, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener

class KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorTest
extends Object
implements KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	calibrateEnd
private int	calibrateStart
private static final Calendar	END_CALENDAR
private static final long	END_TIMESTAMP_MILLIS
private static final int	LARGE_MEASUREMENT_NUMBER
private static final double	MAGNETOMETER_NOISE_STD
private static final double	MAX_ANGLE_DEGREES
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_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 static final int	SMALL_MEASUREMENT_NUMBER
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix mm, KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
private void	checkLocked(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
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 FrameBodyMagneticFluxDensity	generateMeasure(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static FrameBodyMagneticFluxDensity	generateMeasureAtOrientation(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static FrameBodyMagneticFluxDensity	generateMeasureAtPosition(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, com.irurueta.navigation.frames.NEDPosition position)
private static BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static List<FrameBodyMagneticFluxDensity>	generateMeasurementsMultipleOrientationsWithSamePosition(double[] hardIron, com.irurueta.algebra.Matrix softIron, int numberOfMeasurements, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
private static List<FrameBodyMagneticFluxDensity>	generateMeasurementsMultiplePositionsWithSameOrientation(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.algebra.Matrix	generateSoftIronCommonAxis()
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
void	onCalibrateEnd(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
void	onCalibrateStart(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements()
(package private) void	testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseSmallNumberOfMeasurements()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements()
(package private) void	testCalibrateMultipleOrientationsForGeneralCaseWithNoiseSmallNumberOfMeasurements()
(package private) void	testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise()
(package private) void	testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise()
(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	testConstructor18()
(package private) void	testConstructor19()
(package private) void	testConstructor2()
(package private) void	testConstructor20()
(package private) void	testConstructor21()
(package private) void	testConstructor22()
(package private) void	testConstructor23()
(package private) void	testConstructor24()
(package private) void	testConstructor25()
(package private) void	testConstructor26()
(package private) void	testConstructor27()
(package private) void	testConstructor28()
(package private) void	testConstructor29()
(package private) void	testConstructor3()
(package private) void	testConstructor30()
(package private) void	testConstructor31()
(package private) void	testConstructor32()
(package private) void	testConstructor33()
(package private) void	testConstructor34()
(package private) void	testConstructor35()
(package private) void	testConstructor36()
(package private) void	testConstructor37()
(package private) void	testConstructor38()
(package private) void	testConstructor39()
(package private) void	testConstructor4()
(package private) void	testConstructor40()
(package private) void	testConstructor41()
(package private) void	testConstructor42()
(package private) void	testConstructor43()
(package private) void	testConstructor44()
(package private) void	testConstructor45()
(package private) void	testConstructor46()
(package private) void	testConstructor47()
(package private) void	testConstructor48()
(package private) void	testConstructor49()
(package private) void	testConstructor5()
(package private) void	testConstructor50()
(package private) void	testConstructor51()
(package private) void	testConstructor52()
(package private) void	testConstructor53()
(package private) void	testConstructor54()
(package private) void	testConstructor55()
(package private) void	testConstructor56()
(package private) void	testConstructor57()
(package private) void	testConstructor58()
(package private) void	testConstructor59()
(package private) void	testConstructor6()
(package private) void	testConstructor60()
(package private) void	testConstructor61()
(package private) void	testConstructor62()
(package private) void	testConstructor63()
(package private) void	testConstructor64()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetSetHardIron()
(package private) void	testGetSetHardIronAsTriad()
(package private) void	testGetSetHardIronMatrix()
(package private) void	testGetSetHardIronX()
(package private) void	testGetSetHardIronXAsMagneticFluxDensity()
(package private) void	testGetSetHardIronY()
(package private) void	testGetSetHardIronYAsMagneticFluxDensity()
(package private) void	testGetSetHardIronZ()
(package private) void	testGetSetHardIronZAsMagneticFluxDensity()
(package private) void	testGetSetListener()
(package private) void	testGetSetMagneticModel()
(package private) void	testGetSetMeasurements()
(package private) void	testIsSetCommonAxisUsed()
(package private) void	testSetHardIronCoordinates1()
(package private) void	testSetHardIronCoordinates2()

Methods inherited from class java.lang.Object

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

Field Details

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_MEASUREMENT_NUMBER

private static final int SMALL_MEASUREMENT_NUMBER

See Also:

• Constant Field Values

LARGE_MEASUREMENT_NUMBER

private static final int LARGE_MEASUREMENT_NUMBER

See Also:

• Constant Field Values

MAGNETOMETER_NOISE_STD

private static final double MAGNETOMETER_NOISE_STD

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

TIMES

private static final int TIMES

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

calibrateStart

private int calibrateStart

calibrateEnd

private int calibrateEnd

Constructor Details

KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorTest

KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibratorTest()

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

testConstructor18

@Test
void testConstructor18()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor19

@Test
void testConstructor19()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor20

@Test
void testConstructor20()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor21

@Test
void testConstructor21()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor22

@Test
void testConstructor22()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor23

@Test
void testConstructor23()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor24

@Test
void testConstructor24()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor25

@Test
void testConstructor25()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor26

@Test
void testConstructor26()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor27

@Test
void testConstructor27()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor28

@Test
void testConstructor28()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor29

@Test
void testConstructor29()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor30

@Test
void testConstructor30()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor31

@Test
void testConstructor31()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor32

@Test
void testConstructor32()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor33

@Test
void testConstructor33()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor34

@Test
void testConstructor34()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor35

@Test
void testConstructor35()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor36

@Test
void testConstructor36()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor37

@Test
void testConstructor37()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor38

@Test
void testConstructor38()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor39

@Test
void testConstructor39()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor40

@Test
void testConstructor40()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor41

@Test
void testConstructor41()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor42

@Test
void testConstructor42()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor43

@Test
void testConstructor43()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor44

@Test
void testConstructor44()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor45

@Test
void testConstructor45()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor46

@Test
void testConstructor46()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor47

@Test
void testConstructor47()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor48

@Test
void testConstructor48()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor49

@Test
void testConstructor49()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor50

@Test
void testConstructor50()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor51

@Test
void testConstructor51()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor52

@Test
void testConstructor52()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor53

@Test
void testConstructor53()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor54

@Test
void testConstructor54()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor55

@Test
void testConstructor55()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor56

@Test
void testConstructor56()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor57

@Test
void testConstructor57()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor58

@Test
void testConstructor58()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor59

@Test
void testConstructor59()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor60

@Test
void testConstructor60()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor61

@Test
void testConstructor61()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor62

@Test
void testConstructor62()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor63

@Test
void testConstructor63()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor64

@Test
void testConstructor64()
                throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testGetSetHardIronX

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronY

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronZ

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronXAsMagneticFluxDensity

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronYAsMagneticFluxDensity

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronZAsMagneticFluxDensity

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

Throws:

com.irurueta.navigation.LockedException

testSetHardIronCoordinates1

@Test
void testSetHardIronCoordinates1()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetHardIronCoordinates2

@Test
void testSetHardIronCoordinates2()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronAsTriad

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMeasurements

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

Throws:

com.irurueta.navigation.LockedException

testIsSetCommonAxisUsed

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

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMagneticModel

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIron

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronMatrix

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel

@Test
void testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel()
                                                                                          throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndMagneticModel

@Test
void testCalibrateMultipleOrientationsForGeneralCaseWithMinimumMeasuresNoNoiseAndMagneticModel()
                                                                                        throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements

@Test
void testCalibrateMultipleOrientationsForGeneralCaseWithNoiseLargeNumberOfMeasurements()
                                                                                throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultipleOrientationsForGeneralCaseWithNoiseSmallNumberOfMeasurements

@Test
void testCalibrateMultipleOrientationsForGeneralCaseWithNoiseSmallNumberOfMeasurements()
                                                                                throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise

@Test
void testCalibrateMultiplePositionsForGeneralCaseWithMinimumMeasuresAndNoNoise()
                                                                        throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel

@Test
void testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndNoMagneticModel()
                                                                                             throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndMagneticModel

@Test
void testCalibrateMultipleOrientationsForCommonAxisCaseWithMinimumMeasuresNoNoiseAndMagneticModel()
                                                                                           throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements

@Test
void testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseLargeNumberOfMeasurements()
                                                                                   throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseSmallNumberOfMeasurements

@Test
void testCalibrateMultipleOrientationsForCommonAxisCaseWithNoiseSmallNumberOfMeasurements()
                                                                                   throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise

@Test
void testCalibrateMultiplePositionsForCommonAxisCaseWithMinimumMeasuresAndNoNoise()
                                                                           throws IOException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
CalibrationException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

CalibrationException

onCalibrateStart

public void onCalibrateStart(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)

Specified by:

onCalibrateStart in interface KnownHardIronAndFrameMagnetometerCalibratorListener<KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator>

onCalibrateEnd

public void onCalibrateEnd(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)

Specified by:

onCalibrateEnd in interface KnownHardIronAndFrameMagnetometerCalibratorListener<KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator>

reset

private void reset()

checkLocked

private void checkLocked(KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)

assertEstimatedResult

private static void assertEstimatedResult(com.irurueta.algebra.Matrix mm,
 KnownHardIronAndFrameMagnetometerLinearLeastSquaresCalibrator calibrator)

generateMeasurementsMultipleOrientationsWithSamePosition

private static List<FrameBodyMagneticFluxDensity> generateMeasurementsMultipleOrientationsWithSamePosition(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 int numberOfMeasurements,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
                                                                                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasurementsMultiplePositionsWithSameOrientation

private static List<FrameBodyMagneticFluxDensity> generateMeasurementsMultiplePositionsWithSameOrientation(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer)
                                                                                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasureAtOrientation

private static FrameBodyMagneticFluxDensity generateMeasureAtOrientation(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.CoordinateTransformation cnb)
                                                                  throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasureAtPosition

private static FrameBodyMagneticFluxDensity generateMeasureAtPosition(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 com.irurueta.navigation.frames.NEDPosition position)
                                                               throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateMeasure

private static FrameBodyMagneticFluxDensity generateMeasure(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.CoordinateTransformation cnb)
                                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

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()

generateSoftIronCommonAxis

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

createPosition

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

createTimestamp

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