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

Class WindowedAngularSpeedMeasurementNoiseEstimatorTest

java.lang.Object
com.irurueta.navigation.inertial.calibration.noise.WindowedAngularSpeedMeasurementNoiseEstimatorTest
All Implemented Interfaces:
WindowedAngularSpeedMeasurementNoiseEstimatorListener, WindowedMeasurementNoiseEstimatorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator>
class WindowedAngularSpeedMeasurementNoiseEstimatorTest extends Object implements WindowedAngularSpeedMeasurementNoiseEstimatorListener

  • Field Details

    • 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:

    • start

      private int start

    • measurementAdded

      private int measurementAdded

    • windowFilled

      private int windowFilled

    • reset

      private int reset

  • Constructor Details

    • WindowedAngularSpeedMeasurementNoiseEstimatorTest

      WindowedAngularSpeedMeasurementNoiseEstimatorTest()

  • Method Details

    • testConstructor1

      @Test void testConstructor1()

    • testConstructor2

      @Test void testConstructor2()

    • testGetSetWindowSize

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

    • 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

    • testAddMeasurementAndProcessAndThenReset1

      @Test void testAddMeasurementAndProcessAndThenReset1() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • testAddMeasurementAndProcessAndThenReset2

      @Test void testAddMeasurementAndProcessAndThenReset2() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • testAddMeasurement1

      @Test void testAddMeasurement1() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • testAddMeasurement2

      @Test void testAddMeasurement2() throws com.irurueta.algebra.WrongSizeException, com.irurueta.navigation.LockedException
      Throws:
      com.irurueta.algebra.WrongSizeException
      com.irurueta.navigation.LockedException

    • onStart

      public void onStart(WindowedAngularSpeedMeasurementNoiseEstimator estimator)
      Specified by:
      onStart in interface WindowedMeasurementNoiseEstimatorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator>

    • onMeasurementAdded

      public void onMeasurementAdded(WindowedAngularSpeedMeasurementNoiseEstimator estimator)
      Specified by:
      onMeasurementAdded in interface WindowedMeasurementNoiseEstimatorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator>

    • onWindowFilled

      public void onWindowFilled(WindowedAngularSpeedMeasurementNoiseEstimator estimator)
      Specified by:
      onWindowFilled in interface WindowedMeasurementNoiseEstimatorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator>

    • onReset

      public void onReset(WindowedAngularSpeedMeasurementNoiseEstimator estimator)
      Specified by:
      onReset in interface WindowedMeasurementNoiseEstimatorListener<com.irurueta.units.AngularSpeedUnit,com.irurueta.units.AngularSpeed,WindowedAngularSpeedMeasurementNoiseEstimator>

    • reset

      private void reset()

    • checkLocked

      private void checkLocked(WindowedAngularSpeedMeasurementNoiseEstimator 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()