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

Class MSACRobustKnownHardIronAndFrameMagnetometerCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.MSACRobustKnownHardIronAndFrameMagnetometerCalibratorTest

All Implemented Interfaces:

RobustKnownHardIronAndFrameMagnetometerCalibratorListener

class MSACRobustKnownHardIronAndFrameMagnetometerCalibratorTest
extends Object
implements RobustKnownHardIronAndFrameMagnetometerCalibratorListener

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	LARGE_THRESHOLD
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
MSACRobustKnownHardIronAndFrameMagnetometerCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix mm, MSACRobustKnownHardIronAndFrameMagnetometerCalibrator calibrator)
private static void	checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)
private void	checkLocked(MSACRobustKnownHardIronAndFrameMagnetometerCalibrator 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 StandardDeviationFrameBodyMagneticFluxDensity	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 StandardDeviationFrameBodyMagneticFluxDensity	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<StandardDeviationFrameBodyMagneticFluxDensity>	generateMeasurementsMultipleOrientationsWithSamePosition(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(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator)
void	onCalibrateNextIteration(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator, int iteration)
void	onCalibrateProgressChange(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator, float progress)
void	onCalibrateStart(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator)
private void	reset()
(package private) void	testCalibrateCommonAxisNoNoiseInlier()
(package private) void	testCalibrateCommonAxisWithInlierNoise()
(package private) void	testCalibrateGeneralNonLinearWithInitialValue()
(package private) void	testCalibrateGeneralNoNoiseInlier()
(package private) void	testCalibrateGeneralNoRefinement()
(package private) void	testCalibrateGeneralWithInlierNoise()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testConstructor3()
(package private) void	testConstructor4()
(package private) void	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testGetHardIronAsArray()
(package private) void	testGetHardIronAsMatrix()
(package private) void	testGetListener()
(package private) void	testGetSetConfidence()
(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	testGetSetMagneticModel()
(package private) void	testGetSetMaxIterations()
(package private) void	testGetSetMeasurements()
(package private) void	testGetSetPreliminarySubsetSize()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScores()
(package private) void	testGetSetThreshold()
(package private) void	testIsReady()
(package private) void	testIsSetCommonAxisUsed()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetLinearCalibratorUsed()
(package private) void	testIsSetPreliminarySolutionRefined()
(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

LARGE_THRESHOLD

private static final double LARGE_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

MSACRobustKnownHardIronAndFrameMagnetometerCalibratorTest

MSACRobustKnownHardIronAndFrameMagnetometerCalibratorTest()

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

testGetSetThreshold

@Test
void testGetSetThreshold()
                  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

testGetHardIronAsArray

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

Throws:

com.irurueta.navigation.LockedException

testGetHardIronAsMatrix

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.algebra.WrongSizeException

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

testGetListener

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

Throws:

com.irurueta.navigation.LockedException

testIsReady

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

Throws:

com.irurueta.navigation.LockedException

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testGetSetMagneticModel

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

Throws:

com.irurueta.navigation.LockedException

testIsSetLinearCalibratorUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetPreliminarySolutionRefined

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

Throws:

com.irurueta.navigation.LockedException

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.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
CalibrationException,
com.irurueta.navigation.NotReadyException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateCommonAxisNoNoiseInlier

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateGeneralWithInlierNoise

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateCommonAxisWithInlierNoise

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateGeneralNoRefinement

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

testCalibrateGeneralNonLinearWithInitialValue

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

onCalibrateStart

public void onCalibrateStart(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator)

Specified by:

onCalibrateStart in interface RobustKnownHardIronAndFrameMagnetometerCalibratorListener

onCalibrateEnd

public void onCalibrateEnd(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator)

Specified by:

onCalibrateEnd in interface RobustKnownHardIronAndFrameMagnetometerCalibratorListener

onCalibrateNextIteration

public void onCalibrateNextIteration(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator,
 int iteration)

Specified by:

onCalibrateNextIteration in interface RobustKnownHardIronAndFrameMagnetometerCalibratorListener

onCalibrateProgressChange

public void onCalibrateProgressChange(RobustKnownHardIronAndFrameMagnetometerCalibrator calibrator,
 float progress)

Specified by:

onCalibrateProgressChange in interface RobustKnownHardIronAndFrameMagnetometerCalibratorListener

reset

private void reset()

checkLocked

private void checkLocked(MSACRobustKnownHardIronAndFrameMagnetometerCalibrator calibrator)

assertEstimatedResult

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

checkCommonAxisCovariance

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

checkGeneralCovariance

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

generateMeasurementsMultipleOrientationsWithSamePosition

private static List<StandardDeviationFrameBodyMagneticFluxDensity> generateMeasurementsMultipleOrientationsWithSamePosition(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

generateMeasureAtPosition

private static StandardDeviationFrameBodyMagneticFluxDensity 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 StandardDeviationFrameBodyMagneticFluxDensity 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)