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

Class LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorTest

All Implemented Interfaces:

RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener

class LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorTest
extends Object
implements RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener

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 Calendar	END_CALENDAR
private static final long	END_TIMESTAMP_MILLIS
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 int	MEASUREMENT_NUMBER
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 double	OUTLIER_ERROR_FACTOR
private static final int	OUTLIER_PERCENTAGE
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
private static final double	THRESHOLD
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix mm, RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator)
private static void	checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkLocked(LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator 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 StandardDeviationBodyMagneticFluxDensity	generateMeasure(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, com.irurueta.navigation.frames.NEDPosition position, Date timestamp, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static List<StandardDeviationBodyMagneticFluxDensity>	generateMeasures(double[] hardIron, com.irurueta.algebra.Matrix softIron, int numberOfMeasurements, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.NEDPosition position, Date timestamp)
private static com.irurueta.algebra.Matrix	generateSoftIronCommonAxis()
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
private static NEDMagneticFluxDensity	getMagneticFluxDensityAtPosition(com.irurueta.navigation.frames.NEDPosition position, double year)
void	onCalibrateEnd(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator)
void	onCalibrateNextIteration(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator, int iteration)
void	onCalibrateProgressChange(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator, float progress)
void	onCalibrateStart(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateCommonAxisNoNoiseInlier()
(package private) void	testCalibrateCommonAxisWithInlierNoise()
(package private) void	testCalibrateGeneralNoNoiseInlier()
(package private) void	testCalibrateGeneralNoRefinement()
(package private) void	testCalibrateGeneralWithInlierNoise()
(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	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetMinimumRequiredMeasurements()
(package private) void	testGetSetConfidence()
(package private) void	testGetSetGroundTruthMagneticFluxDensityNorm1()
(package private) void	testGetSetGroundTruthMagneticFluxDensityNorm2()
(package private) void	testGetSetHardIron()
(package private) void	testGetSetHardIronAsMatrix()
(package private) void	testGetSetHardIronAsTriad()
(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	testGetSetInitialMm()
(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	testGetSetMeasurements()
(package private) void	testGetSetPreliminarySubsetSize()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScores()
(package private) void	testGetSetStopThreshold()
(package private) void	testIsReady()
(package private) void	testIsSetCommonAxisUsed()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetResultRefined()
(package private) void	testSetHardIronCoordinates1()
(package private) void	testSetHardIronCoordinates2()
(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

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

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

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

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

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

calibrateNextIteration

private int calibrateNextIteration

calibrateProgressChange

private int calibrateProgressChange

Constructor Details

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorTest

LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorTest()

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,
IOException

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor24

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor25

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor26

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor27

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor28

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor29

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor30

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor31

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor32

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor33

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor34

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor35

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor36

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor37

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor38

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor39

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor40

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor41

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor42

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor43

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testConstructor44

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

Throws:

com.irurueta.algebra.WrongSizeException

IOException

testGetSetStopThreshold

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

Throws:

com.irurueta.navigation.LockedException

testGetSetGroundTruthMagneticFluxDensityNorm1

@Test
void testGetSetGroundTruthMagneticFluxDensityNorm1()
                                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetGroundTruthMagneticFluxDensityNorm2

@Test
void testGetSetGroundTruthMagneticFluxDensityNorm2()
                                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

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

testGetSetInitialSx

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialSy

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialSz

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialMxy

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialMxz

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialMyx

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialMyz

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialMzx

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialMzy

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

Throws:

com.irurueta.navigation.LockedException

testSetInitialScalingFactors

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

Throws:

com.irurueta.navigation.LockedException

testSetInitialCrossCouplingErrors

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

Throws:

com.irurueta.navigation.LockedException

testSetInitialScalingFactorsAndCrossCouplingErrors

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIron

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

Throws:

com.irurueta.navigation.LockedException

testGetSetHardIronAsMatrix

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

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetInitialMm

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

Throws:

com.irurueta.algebra.WrongSizeException

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

testGetMinimumRequiredMeasurements

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

Throws:

com.irurueta.navigation.LockedException

testIsReady

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

Throws:

com.irurueta.navigation.LockedException

IOException

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

testCalibrateGeneralNoNoiseInlier

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

Throws:

IOException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

testCalibrateCommonAxisNoNoiseInlier

@Test
void testCalibrateCommonAxisNoNoiseInlier()
                                   throws IOException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

IOException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateGeneralWithInlierNoise

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

Throws:

IOException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

testCalibrateCommonAxisWithInlierNoise

@Test
void testCalibrateCommonAxisWithInlierNoise()
                                     throws IOException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

IOException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateGeneralNoRefinement

@Test
void testCalibrateGeneralNoRefinement()
                               throws IOException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

IOException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

onCalibrateStart

public void onCalibrateStart(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator)

Specified by:

onCalibrateStart in interface RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener

onCalibrateEnd

public void onCalibrateEnd(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator)

Specified by:

onCalibrateEnd in interface RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener

onCalibrateNextIteration

public void onCalibrateNextIteration(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator,
 int iteration)

Specified by:

onCalibrateNextIteration in interface RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener

onCalibrateProgressChange

public void onCalibrateProgressChange(RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator,
 float progress)

Specified by:

onCalibrateProgressChange in interface RobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibratorListener

reset

private void reset()

checkLocked

private static void checkLocked(LMedSRobustKnownHardIronMagneticFluxDensityNormMagnetometerCalibrator calibrator)

assertEstimatedResult

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

checkCommonAxisCovariance

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

checkGeneralCovariance

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

getMagneticFluxDensityAtPosition

private static NEDMagneticFluxDensity getMagneticFluxDensityAtPosition(com.irurueta.navigation.frames.NEDPosition position,
 double year)
                                                                throws IOException

Throws:

IOException

generateMeasures

private static List<StandardDeviationBodyMagneticFluxDensity> generateMeasures(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 int numberOfMeasurements,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.NEDPosition position,
 Date timestamp)

generateMeasure

private static StandardDeviationBodyMagneticFluxDensity generateMeasure(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 com.irurueta.navigation.frames.NEDPosition position,
 Date timestamp,
 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()

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)