1 /*
2 * Copyright (C) 2020 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.navigation.inertial.calibration.accelerometer;
17
18 import com.irurueta.navigation.LockedException;
19 import com.irurueta.navigation.inertial.calibration.FrameBodyKinematics;
20
21 import java.util.Collection;
22
23 /**
24 * Interface defining accelerometer calibrators.
25 *
26 * @param <T> a {@link FrameBodyKinematics} containing measures used by the calibrator.
27 * @param <L> a listener type.
28 */
29 public interface KnownBiasAndFrameAccelerometerCalibrator<T extends FrameBodyKinematics,
30 L extends KnownBiasAndFrameAccelerometerCalibratorListener<?>>
31 extends KnownBiasAccelerometerCalibrator, AccelerometerCalibrator {
32
33 /**
34 * Gets a collection of body kinematics measurements taken at different
35 * frames (positions, orientations and velocities).
36 * If a single device IMU needs to be calibrated, typically all measurements are
37 * taken at the same position, with zero velocity and multiple orientations.
38 * However, if we just want to calibrate a given IMU model (e.g. obtain
39 * an average and less precise calibration for the IMU of a given phone model),
40 * we could take measurements collected throughout the planet at multiple positions
41 * while the phone remains static (e.g. while charging), hence each measurement
42 * position will change, velocity will remain zero and orientation will be
43 * typically constant at horizontal orientation while the phone remains on a
44 * flat surface.
45 *
46 * @return a collection of body kinematics measurements taken at different
47 * frames (positions, orientations and velocities).
48 */
49 Collection<T> getMeasurements();
50
51 /**
52 * Sets a collection of body kinematics measurements taken at different
53 * frames (positions, orientations and velocities).
54 * If a single device IMU needs to be calibrated, typically all measurements are
55 * taken at the same position, with zero velocity and multiple orientations.
56 * However, if we just want to calibrate the a given IMU model (e.g. obtain
57 * an average and less precise calibration for the IMU of a given phone model),
58 * we could take measurements collected throughout the planet at multiple positions
59 * while the phone remains static (e.g. while charging), hence each measurement
60 * position will change, velocity will remain zero and orientation will be
61 * typically constant at horizontal orientation while the phone remains on a
62 * flat surface.
63 *
64 * @param measurements collection of body kinematics measurements taken at different
65 * frames (positions, orientations and velocities).
66 * @throws LockedException if estimator is currently running.
67 */
68 void setMeasurements(final Collection<? extends T> measurements) throws LockedException;
69
70 /**
71 * Gets listener to handle events raised by this estimator.
72 *
73 * @return listener to handle events raised by this estimator.
74 */
75 L getListener();
76
77 /**
78 * Sets listener to handle events raised by this estimator.
79 *
80 * @param listener listener to handle events raised by this estimator.
81 * @throws LockedException if estimator is currently running.
82 */
83 void setListener(final L listener) throws LockedException;
84 }