Package com.irurueta.navigation.inertial.calibration.noise

Class AccumulatedBodyKinematicsNoiseEstimatorTest

java.lang.Object
com.irurueta.navigation.inertial.calibration.noise.AccumulatedBodyKinematicsNoiseEstimatorTest
All Implemented Interfaces:
AccumulatedBodyKinematicsNoiseEstimatorListener
class AccumulatedBodyKinematicsNoiseEstimatorTest extends Object implements AccumulatedBodyKinematicsNoiseEstimatorListener

  • Field Details

    • MIN_ACCELEROMETER_VALUE

      private static final double MIN_ACCELEROMETER_VALUE
      See Also:

    • MAX_ACCELEROMETER_VALUE

      private static final double MAX_ACCELEROMETER_VALUE
      See Also:

    • MIN_GYRO_VALUE

      private static final double MIN_GYRO_VALUE
      See Also:

    • MAX_GYRO_VALUE

      private static final double MAX_GYRO_VALUE
      See Also:

    • MICRO_G_TO_METERS_PER_SECOND_SQUARED

      private static final double MICRO_G_TO_METERS_PER_SECOND_SQUARED
      See Also:

    • DEG_TO_RAD

      private static final double DEG_TO_RAD
      See Also:

    • ABSOLUTE_ERROR

      private static final double ABSOLUTE_ERROR
      See Also:

    • SMALL_ABSOLUTE_ERROR

      private static final double SMALL_ABSOLUTE_ERROR
      See Also:

    • LARGE_ABSOLUTE_ERROR

      private static final double LARGE_ABSOLUTE_ERROR
      See Also:

    • N_SAMPLES

      private static final int N_SAMPLES
      See Also:

    • TIMES

      private static final int TIMES
      See Also:

    • start

      private int start

    • bodyKinematicsAdded

      private int bodyKinematicsAdded

    • reset

      private int reset

  • Constructor Details

    • AccumulatedBodyKinematicsNoiseEstimatorTest

      AccumulatedBodyKinematicsNoiseEstimatorTest()

  • Method Details

    • testConstructor1

      @Test void testConstructor1()

    • testConstructor2

      @Test void testConstructor2()

    • testGetSetTimeInterval

      @Test void testGetSetTimeInterval() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetTimeIntervalAsTime

      @Test void testGetSetTimeIntervalAsTime() throws com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.navigation.LockedException

    • testGetSetListener

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

    • testAddBodyKinematicsAndReset1

      @Test void testAddBodyKinematicsAndReset1() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • testAddBodyKinematicsAndReset2

      @Test void testAddBodyKinematicsAndReset2() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • testAddBodyKinematicsAndReset3

      @Test void testAddBodyKinematicsAndReset3() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • testAddBodyKinematicsAndReset4

      @Test void testAddBodyKinematicsAndReset4() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • onStart

      public void onStart(AccumulatedBodyKinematicsNoiseEstimator estimator)
      Specified by:
      onStart in interface AccumulatedBodyKinematicsNoiseEstimatorListener

    • onBodyKinematicsAdded

      public void onBodyKinematicsAdded(AccumulatedBodyKinematicsNoiseEstimator estimator)
      Specified by:
      onBodyKinematicsAdded in interface AccumulatedBodyKinematicsNoiseEstimatorListener

    • onReset

      public void onReset(AccumulatedBodyKinematicsNoiseEstimator estimator)
      Specified by:
      onReset in interface AccumulatedBodyKinematicsNoiseEstimatorListener

    • reset

      private void reset()

    • checkLocked

      private void checkLocked(AccumulatedBodyKinematicsNoiseEstimator estimator)

    • generateBa

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

    • generateBg

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

    • generateMa

      private static com.irurueta.algebra.Matrix generateMa() throws com.irurueta.algebra.WrongSizeException
      Throws:
      com.irurueta.algebra.WrongSizeException

    • generateMg

      private static com.irurueta.algebra.Matrix generateMg() throws com.irurueta.algebra.WrongSizeException
      Throws:
      com.irurueta.algebra.WrongSizeException

    • generateGg

      private static com.irurueta.algebra.Matrix generateGg() throws com.irurueta.algebra.WrongSizeException
      Throws:
      com.irurueta.algebra.WrongSizeException

    • getAccelNoiseRootPSD

      private static double getAccelNoiseRootPSD()

    • getGyroNoiseRootPSD

      private static double getGyroNoiseRootPSD()