Package com.irurueta.navigation.inertial.estimators

Class ECIKinematicsEstimatorTest

java.lang.Object

com.irurueta.navigation.inertial.estimators.ECIKinematicsEstimatorTest

class ECIKinematicsEstimatorTest
extends Object

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	ALPHA_THRESHOLD
private static final double	HEIGHT
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	LATITUDE_DEGREES
private static final double	LONGITUDE_DEGREES
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_ANGLE_VARIATION_DEGREES
private static final double	MAX_HEIGHT_VARIATION
private static final double	MAX_POSITION_VARIATION_DEGREES
private static final double	MAX_VELOCITY_VALUE
private static final double	MAX_VELOCITY_VARIATION
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_ANGLE_VARIATION_DEGREES
private static final double	MIN_HEIGHT_VARIATION
private static final double	MIN_POSITION_VARIATION_DEGREES
private static final double	MIN_VELOCITY_VALUE
private static final double	MIN_VELOCITY_VARIATION
private static final double	SCALING_THRESHOLD
private static final double	TIME_INTERVAL_SECONDS

Constructor Summary

Constructors

Constructor	Description
ECIKinematicsEstimatorTest()

Method Summary

Modifier and Type	Method	Description
private static com.irurueta.navigation.frames.NEDFrame	createNewNedFrame(com.irurueta.navigation.frames.NEDFrame oldFrame)
private static com.irurueta.navigation.frames.NEDFrame	createOldNedFrame()
private static BodyKinematics	estimateKinematics(double timeInterval, com.irurueta.navigation.frames.CoordinateTransformation c, com.irurueta.navigation.frames.CoordinateTransformation oldC, double vx, double vy, double vz, double oldVx, double oldVy, double oldVz, double x, double y, double z)
(package private) void	testCompareKinematics()
(package private) void	testEstimate()
(package private) void	testEstimateAndReturnNew()
(package private) void	testEstimateKinematics()
(package private) void	testEstimateKinematicsAndReturnNew()
(package private) void	testEstimateKinematicsWhenInvalidCoordinateTransformationThrowsIllegalArgumentException()
(package private) void	testEstimateKinematicsWhenInvalidOldCoordinateTransformationThrowsIllegalArgumentException()
(package private) void	testEstimateKinematicsWhenNegativeIntervalThrowsIllegalArgumentException()
(package private) void	testEstimateKinematicsWhenZeroTimeIntervalReturnsZeroValues()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

TIME_INTERVAL_SECONDS

private static final double TIME_INTERVAL_SECONDS

See Also:

• Constant Field Values

LATITUDE_DEGREES

private static final double LATITUDE_DEGREES

See Also:

• Constant Field Values

LONGITUDE_DEGREES

private static final double LONGITUDE_DEGREES

See Also:

• Constant Field Values

HEIGHT

private static final double HEIGHT

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_VELOCITY_VALUE

private static final double MIN_VELOCITY_VALUE

See Also:

• Constant Field Values

MAX_VELOCITY_VALUE

private static final double MAX_VELOCITY_VALUE

See Also:

• Constant Field Values

MIN_ANGLE_VARIATION_DEGREES

private static final double MIN_ANGLE_VARIATION_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_VARIATION_DEGREES

private static final double MAX_ANGLE_VARIATION_DEGREES

See Also:

• Constant Field Values

MIN_POSITION_VARIATION_DEGREES

private static final double MIN_POSITION_VARIATION_DEGREES

See Also:

• Constant Field Values

MAX_POSITION_VARIATION_DEGREES

private static final double MAX_POSITION_VARIATION_DEGREES

See Also:

• Constant Field Values

MIN_HEIGHT_VARIATION

private static final double MIN_HEIGHT_VARIATION

See Also:

• Constant Field Values

MAX_HEIGHT_VARIATION

private static final double MAX_HEIGHT_VARIATION

See Also:

• Constant Field Values

MIN_VELOCITY_VARIATION

private static final double MIN_VELOCITY_VARIATION

See Also:

• Constant Field Values

MAX_VELOCITY_VARIATION

private static final double MAX_VELOCITY_VARIATION

See Also:

• Constant Field Values

SCALING_THRESHOLD

private static final double SCALING_THRESHOLD

See Also:

• Constant Field Values

ALPHA_THRESHOLD

private static final double ALPHA_THRESHOLD

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

Constructor Details

ECIKinematicsEstimatorTest

ECIKinematicsEstimatorTest()

Method Details

testEstimate

@Test
void testEstimate()
           throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

testEstimateAndReturnNew

@Test
void testEstimateAndReturnNew()
                       throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

testEstimateKinematics

@Test
void testEstimateKinematics()
                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

testEstimateKinematicsAndReturnNew

@Test
void testEstimateKinematicsAndReturnNew()
                                 throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

testEstimateKinematicsWhenNegativeIntervalThrowsIllegalArgumentException

@Test
void testEstimateKinematicsWhenNegativeIntervalThrowsIllegalArgumentException()
                                                                       throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

testEstimateKinematicsWhenInvalidCoordinateTransformationThrowsIllegalArgumentException

@Test
void testEstimateKinematicsWhenInvalidCoordinateTransformationThrowsIllegalArgumentException()
                                                                                      throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

testEstimateKinematicsWhenInvalidOldCoordinateTransformationThrowsIllegalArgumentException

@Test
void testEstimateKinematicsWhenInvalidOldCoordinateTransformationThrowsIllegalArgumentException()
                                                                                         throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

testEstimateKinematicsWhenZeroTimeIntervalReturnsZeroValues

@Test
void testEstimateKinematicsWhenZeroTimeIntervalReturnsZeroValues()
                                                          throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException

testCompareKinematics

@Test
void testCompareKinematics()
                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

createOldNedFrame

private static com.irurueta.navigation.frames.NEDFrame createOldNedFrame()
                                                                  throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

createNewNedFrame

private static com.irurueta.navigation.frames.NEDFrame createNewNedFrame(com.irurueta.navigation.frames.NEDFrame oldFrame)
                                                                  throws com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

estimateKinematics

private static BodyKinematics estimateKinematics(double timeInterval,
 com.irurueta.navigation.frames.CoordinateTransformation c,
 com.irurueta.navigation.frames.CoordinateTransformation oldC,
 double vx,
 double vy,
 double vz,
 double oldVx,
 double oldVy,
 double oldVz,
 double x,
 double y,
 double z)
                                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.algebra.RankDeficientMatrixException,
com.irurueta.algebra.DecomposerException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.algebra.RankDeficientMatrixException

com.irurueta.algebra.DecomposerException