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

Class RANSACRobustKnownFrameMagnetometerCalibratorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.magnetometer.RANSACRobustKnownFrameMagnetometerCalibratorTest

All Implemented Interfaces:

RobustKnownFrameMagnetometerCalibratorListener

class RANSACRobustKnownFrameMagnetometerCalibratorTest
extends Object
implements RobustKnownFrameMagnetometerCalibratorListener

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_ABSOLUTE_ERROR
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
RANSACRobustKnownFrameMagnetometerCalibratorTest()

Method Summary

Modifier and Type	Method	Description
private static void	assertCovariance(RANSACRobustKnownFrameMagnetometerCalibrator calibrator)
private static void	assertEstimatedResult(com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, RANSACRobustKnownFrameMagnetometerCalibrator calibrator, boolean checkCovariance)
private static void	checkCommonAxisCovariance(com.irurueta.algebra.Matrix covariance)
private static void	checkGeneralCovariance(com.irurueta.algebra.Matrix covariance)
private void	checkLocked(RANSACRobustKnownFrameMagnetometerCalibrator 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(RobustKnownFrameMagnetometerCalibrator calibrator)
void	onCalibrateNextIteration(RobustKnownFrameMagnetometerCalibrator calibrator, int iteration)
void	onCalibrateProgressChange(RobustKnownFrameMagnetometerCalibrator calibrator, float progress)
void	onCalibrateStart(RobustKnownFrameMagnetometerCalibrator 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	testGetInitialHardIronAsArray()
(package private) void	testGetInitialHardIronAsMatrix()
(package private) void	testGetListener()
(package private) void	testGetSetConfidence()
(package private) void	testGetSetInitialHardIronAsTriad()
(package private) void	testGetSetInitialHardIronX()
(package private) void	testGetSetInitialHardIronXAsMagneticFluxDensity()
(package private) void	testGetSetInitialHardIronY()
(package private) void	testGetSetInitialHardIronYAsMagneticFluxDensity()
(package private) void	testGetSetInitialHardIronZ()
(package private) void	testGetSetInitialHardIronZAsMagneticFluxDensity()
(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	testIsSetComputeAndKeepInliersEnabled()
(package private) void	testIsSetComputeAndKeepResiduals()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetLinearCalibratorUsed()
(package private) void	testIsSetPreliminarySolutionRefined()
(package private) void	testIsSetResultRefined()
(package private) void	testSetInitialCrossCouplingErrors()
(package private) void	testSetInitialHardIron1()
(package private) void	testSetInitialHardIron2()
(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

LARGE_ABSOLUTE_ERROR

private static final double LARGE_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

RANSACRobustKnownFrameMagnetometerCalibratorTest

RANSACRobustKnownFrameMagnetometerCalibratorTest()

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

testIsSetComputeAndKeepInliersEnabled

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

Throws:

com.irurueta.navigation.LockedException

testIsSetComputeAndKeepResiduals

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialHardIronX

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialHardIronY

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialHardIronZ

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialHardIronXAsMagneticFluxDensity

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialHardIronYAsMagneticFluxDensity

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialHardIronZAsMagneticFluxDensity

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

Throws:

com.irurueta.navigation.LockedException

testSetInitialHardIron1

@Test
void testSetInitialHardIron1()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetInitialHardIron2

@Test
void testSetInitialHardIron2()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialHardIronAsTriad

@Test
void testGetSetInitialHardIronAsTriad()
                               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

testGetInitialHardIronAsArray

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

Throws:

com.irurueta.navigation.LockedException

testGetInitialHardIronAsMatrix

@Test
void testGetInitialHardIronAsMatrix()
                             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,
com.irurueta.algebra.WrongSizeException

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.WrongSizeException

testCalibrateCommonAxisNoNoiseInlier

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.WrongSizeException

testCalibrateGeneralWithInlierNoise

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.WrongSizeException

testCalibrateCommonAxisWithInlierNoise

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.WrongSizeException

testCalibrateGeneralNoRefinement

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.WrongSizeException

testCalibrateGeneralNonLinearWithInitialValue

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

Throws:

IOException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

CalibrationException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.WrongSizeException

onCalibrateStart

public void onCalibrateStart(RobustKnownFrameMagnetometerCalibrator calibrator)

Specified by:

onCalibrateStart in interface RobustKnownFrameMagnetometerCalibratorListener

onCalibrateEnd

public void onCalibrateEnd(RobustKnownFrameMagnetometerCalibrator calibrator)

Specified by:

onCalibrateEnd in interface RobustKnownFrameMagnetometerCalibratorListener

onCalibrateNextIteration

public void onCalibrateNextIteration(RobustKnownFrameMagnetometerCalibrator calibrator,
 int iteration)

Specified by:

onCalibrateNextIteration in interface RobustKnownFrameMagnetometerCalibratorListener

onCalibrateProgressChange

public void onCalibrateProgressChange(RobustKnownFrameMagnetometerCalibrator calibrator,
 float progress)

Specified by:

onCalibrateProgressChange in interface RobustKnownFrameMagnetometerCalibratorListener

reset

private void reset()

checkLocked

private void checkLocked(RANSACRobustKnownFrameMagnetometerCalibrator calibrator)

assertEstimatedResult

private static void assertEstimatedResult(com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 RANSACRobustKnownFrameMagnetometerCalibrator calibrator,
 boolean checkCovariance)
                                   throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

assertCovariance

private static void assertCovariance(RANSACRobustKnownFrameMagnetometerCalibrator 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)