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

Class AccumulatedMagneticFluxDensityTriadNoiseEstimatorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.noise.AccumulatedMagneticFluxDensityTriadNoiseEstimatorTest

All Implemented Interfaces:

AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener, AccumulatedTriadNoiseEstimatorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator>

class AccumulatedMagneticFluxDensityTriadNoiseEstimatorTest
extends Object
implements AccumulatedMagneticFluxDensityTriadNoiseEstimatorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
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 double	MIN_ANGLE_DEGREES
private static final double	MIN_HARD_IRON
private static final double	MIN_HEIGHT_METERS
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	MIN_SOFT_IRON
private static final int	N_SAMPLES
private int	reset
private int	start
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
private int	triadAdded

Constructor Summary

Constructors

Constructor	Description
AccumulatedMagneticFluxDensityTriadNoiseEstimatorTest()

Method Summary

Modifier and Type	Method	Description
private void	checkLocked(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)
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 BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
private static MagneticFluxDensityTriad	generateTriad(double[] hardIron, com.irurueta.algebra.Matrix softIron, WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, Date timestamp, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.CoordinateTransformation cnb)
void	onReset(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)
void	onStart(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)
void	onTriadAdded(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)
private void	reset()
(package private) void	testAddTriadAndReset1()
(package private) void	testAddTriadAndReset2()
(package private) void	testAddTriadAndReset3()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testGetSetListener()
(package private) void	testGetSetTimeInterval()
(package private) void	testGetSetTimeIntervalAsTime()

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

N_SAMPLES

private static final int N_SAMPLES

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

start

private int start

triadAdded

private int triadAdded

reset

private int reset

Constructor Details

AccumulatedMagneticFluxDensityTriadNoiseEstimatorTest

AccumulatedMagneticFluxDensityTriadNoiseEstimatorTest()

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

testAddTriadAndReset1

@Test
void testAddTriadAndReset1()
                    throws com.irurueta.navigation.LockedException,
IOException

Throws:

com.irurueta.navigation.LockedException

IOException

testAddTriadAndReset2

@Test
void testAddTriadAndReset2()
                    throws com.irurueta.navigation.LockedException,
IOException

Throws:

com.irurueta.navigation.LockedException

IOException

testAddTriadAndReset3

@Test
void testAddTriadAndReset3()
                    throws com.irurueta.navigation.LockedException,
IOException

Throws:

com.irurueta.navigation.LockedException

IOException

onStart

public void onStart(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)

Specified by:

onStart in interface AccumulatedTriadNoiseEstimatorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator>

onTriadAdded

public void onTriadAdded(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)

Specified by:

onTriadAdded in interface AccumulatedTriadNoiseEstimatorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator>

onReset

public void onReset(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)

Specified by:

onReset in interface AccumulatedTriadNoiseEstimatorListener<com.irurueta.units.MagneticFluxDensityUnit,com.irurueta.units.MagneticFluxDensity,MagneticFluxDensityTriad,AccumulatedMagneticFluxDensityTriadNoiseEstimator>

reset

private void reset()

checkLocked

private void checkLocked(AccumulatedMagneticFluxDensityTriadNoiseEstimator estimator)

generateTriad

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

createPosition

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

createTimestamp

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