/*
    * Copyright (C) 2020 Alberto Irurueta Carro (alberto@irurueta.com)
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *         http://www.apache.org/licenses/LICENSE-2.0
    *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package com.irurueta.navigation.inertial.calibration.generators;
  
  import com.irurueta.navigation.LockedException;
  import com.irurueta.navigation.inertial.calibration.AccelerometerNoiseRootPsdSource;
  import com.irurueta.navigation.inertial.calibration.AngularSpeedTriad;
  import com.irurueta.navigation.inertial.calibration.BodyKinematicsSequence;
  import com.irurueta.navigation.inertial.calibration.GyroscopeNoiseRootPsdSource;
  import com.irurueta.navigation.inertial.calibration.StandardDeviationBodyKinematics;
  import com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics;
  import com.irurueta.navigation.inertial.calibration.TimedBodyKinematics;
  import com.irurueta.navigation.inertial.calibration.intervals.TriadStaticIntervalDetector;
  import com.irurueta.units.Acceleration;
  import com.irurueta.units.AngularSpeed;
  import com.irurueta.units.Time;
  import com.irurueta.units.TimeConverter;
  import com.irurueta.units.TimeUnit;
  
  /**
   * Generates measurements for the calibration of accelerometers and gyroscopes by alternating
   * static and dynamic intervals where device is kept static or moved.
   * Generated measurements must be used with accelerometer calibrators based
   * on the knowledge of gravity norm (or Earth position) when the device orientation
   * is unknown, and with easy gyroscope calibrators.
   * Notice that accuracy of the gyroscope calibration is very sensitive to the
   * accuracy of detected dynamic intervals respect the average specific forces
   * during static intervals.
   * In order to increase the accuracy, calibration should be repeated trying different
   * threshold factors {@link #getThresholdFactor()}.
   *
   * @see AccelerometerMeasurementsGenerator
   * @see GyroscopeMeasurementsGenerator
   */
  public class AccelerometerAndGyroscopeMeasurementsGenerator
          implements AccelerometerNoiseRootPsdSource, GyroscopeNoiseRootPsdSource {
  
      /**
       * Listener to handle generated events.
       */
      private AccelerometerAndGyroscopeMeasurementsGeneratorListener listener;
  
      /**
       * Listener for internal accelerometer measurements generator.
       */
      private final AccelerometerMeasurementsGeneratorListener accelerometerListener =
              new AccelerometerMeasurementsGeneratorListener() {
                  @Override
                  public void onInitializationStarted(final AccelerometerMeasurementsGenerator generator) {
                      // no action required
                  }
  
                  @Override
                  public void onInitializationCompleted(
                          final AccelerometerMeasurementsGenerator generator, final double baseNoiseLevel) {
                      // no action required
                  }
  
                  @Override
                  public void onError(
                          final AccelerometerMeasurementsGenerator generator,
                          final TriadStaticIntervalDetector.ErrorReason reason) {
                      if (listener != null) {
                          listener.onError(AccelerometerAndGyroscopeMeasurementsGenerator.this, reason);
                      }
                  }
  
                  @Override
                  public void onStaticIntervalDetected(final AccelerometerMeasurementsGenerator generator) {
                      // no action required
                  }
  
                  @Override
                  public void onDynamicIntervalDetected(final AccelerometerMeasurementsGenerator generator) {
                      // no action required
                  }
  
                  @Override
                  public void onStaticIntervalSkipped(final AccelerometerMeasurementsGenerator generator) {
                      // no action required
                  }
  
                  @Override
                  public void onDynamicIntervalSkipped(final AccelerometerMeasurementsGenerator generator) {
                      // no action required
                  }
 
                 @Override
                 public void onGeneratedMeasurement(
                         final AccelerometerMeasurementsGenerator generator,
                         final StandardDeviationBodyKinematics measurement) {
                     if (listener != null) {
                         listener.onGeneratedAccelerometerMeasurement(
                                 AccelerometerAndGyroscopeMeasurementsGenerator.this, measurement);
                     }
                 }
 
                 @Override
                 public void onReset(final AccelerometerMeasurementsGenerator generator) {
                     // no action required
                 }
             };
 
     /**
      * Listener for internal gyroscope measurements generator.
      */
     private final GyroscopeMeasurementsGeneratorListener gyroscopeListener =
             new GyroscopeMeasurementsGeneratorListener() {
                 @Override
                 public void onInitializationStarted(final GyroscopeMeasurementsGenerator generator) {
                     if (listener != null) {
                         listener.onInitializationStarted(AccelerometerAndGyroscopeMeasurementsGenerator.this);
                     }
                 }
 
                 @Override
                 public void onInitializationCompleted(
                         final GyroscopeMeasurementsGenerator generator, final double baseNoiseLevel) {
                     if (listener != null) {
                         listener.onInitializationCompleted(
                                 AccelerometerAndGyroscopeMeasurementsGenerator.this, baseNoiseLevel);
                     }
                 }
 
                 @Override
                 public void onError(
                         final GyroscopeMeasurementsGenerator generator,
                         final TriadStaticIntervalDetector.ErrorReason reason) {
                     // no action required
                 }
 
                 @Override
                 public void onStaticIntervalDetected(final GyroscopeMeasurementsGenerator generator) {
                     if (listener != null) {
                         listener.onStaticIntervalDetected(
                                 AccelerometerAndGyroscopeMeasurementsGenerator.this);
                     }
                 }
 
                 @Override
                 public void onDynamicIntervalDetected(final GyroscopeMeasurementsGenerator generator) {
                     if (listener != null) {
                         listener.onDynamicIntervalDetected(
                                 AccelerometerAndGyroscopeMeasurementsGenerator.this);
                     }
                 }
 
                 @Override
                 public void onStaticIntervalSkipped(final GyroscopeMeasurementsGenerator generator) {
                     if (listener != null) {
                         listener.onStaticIntervalSkipped(
                                 AccelerometerAndGyroscopeMeasurementsGenerator.this);
                     }
                 }
 
                 @Override
                 public void onDynamicIntervalSkipped(final GyroscopeMeasurementsGenerator generator) {
                     if (listener != null) {
                         listener.onDynamicIntervalSkipped(
                                 AccelerometerAndGyroscopeMeasurementsGenerator.this);
                     }
                 }
 
                 @Override
                 public void onGeneratedMeasurement(
                         final GyroscopeMeasurementsGenerator generator,
                         final BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> measurement) {
                     if (listener != null) {
                         listener.onGeneratedGyroscopeMeasurement(
                                 AccelerometerAndGyroscopeMeasurementsGenerator.this, measurement);
                     }
                 }
 
                 @Override
                 public void onReset(final GyroscopeMeasurementsGenerator generator) {
                     // no action required
                 }
             };
 
     /**
      * Internal accelerometer measurements generator.
      */
     private final AccelerometerMeasurementsGenerator accelerometerMeasurementsGenerator =
             new AccelerometerMeasurementsGenerator(accelerometerListener);
 
     /**
      * Internal gyroscope measurements generator.
      */
     private final GyroscopeMeasurementsGenerator gyroscopeMeasurementsGenerator =
             new GyroscopeMeasurementsGenerator(gyroscopeListener);
 
     /**
      * Indicates whether generator is running or not.
      */
     private boolean running;
 
     /**
      * Constructor.
      */
     public AccelerometerAndGyroscopeMeasurementsGenerator() {
     }
 
     /**
      * Constructor.
      *
      * @param listener listener to handle events raised by this generator.
      */
     public AccelerometerAndGyroscopeMeasurementsGenerator(
             final AccelerometerAndGyroscopeMeasurementsGeneratorListener listener) {
         this();
         this.listener = listener;
     }
 
     /**
      * Gets time interval between input samples expressed in seconds (s).
      *
      * @return time interval between input samples.
      */
     public double getTimeInterval() {
         return accelerometerMeasurementsGenerator.getTimeInterval();
     }
 
     /**
      * Sets time interval between input samples expressed in seconds (s).
      *
      * @param timeInterval time interval between input samples.
      * @throws IllegalArgumentException if provided value is negative.
      * @throws LockedException          if generator is currently running.
      */
     public void setTimeInterval(final double timeInterval) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         if (timeInterval < 0.0) {
             throw new IllegalArgumentException();
         }
 
         accelerometerMeasurementsGenerator.setTimeInterval(timeInterval);
         gyroscopeMeasurementsGenerator.setTimeInterval(timeInterval);
     }
 
     /**
      * Gets time interval between input samples.
      *
      * @return time interval between input samples.
      */
     public Time getTimeIntervalAsTime() {
         return new Time(getTimeInterval(), TimeUnit.SECOND);
     }
 
     /**
      * Gets time interval between input samples.
      *
      * @param result instance where time interval will be stored.
      */
     public void getTimeIntervalAsTime(final Time result) {
         result.setValue(getTimeInterval());
         result.setUnit(TimeUnit.SECOND);
     }
 
     /**
      * Sets time interval between input samples.
      *
      * @param timeInterval time interval between input samples.
      * @throws IllegalArgumentException if provided value is negative.
      * @throws LockedException          if estimator is currently running.
      */
     public void setTimeInterval(final Time timeInterval) throws LockedException {
         setTimeInterval(TimeConverter.convert(timeInterval.getValue().doubleValue(), timeInterval.getUnit(),
                 TimeUnit.SECOND));
     }
 
     /**
      * Gets minimum number of samples required in a static interval to be taken into account.
      * Smaller static intervals will be discarded.
      *
      * @return minimum number of samples required in a static interval to be taken into account.
      */
     public int getMinStaticSamples() {
         return accelerometerMeasurementsGenerator.getMinStaticSamples();
     }
 
     /**
      * Sets minimum number of samples required in a static interval to be taken into account.
      * Smaller static intervals will be discarded.
      *
      * @param minStaticSamples minimum number of samples required in a static interval to be
      *                         taken into account.
      * @throws LockedException          if generator is busy.
      * @throws IllegalArgumentException if provided value is less than 2.
      */
     public void setMinStaticSamples(final int minStaticSamples) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setMinStaticSamples(minStaticSamples);
         gyroscopeMeasurementsGenerator.setMinStaticSamples(minStaticSamples);
     }
 
     /**
      * Gets maximum number of samples allowed in dynamic intervals.
      *
      * @return maximum number of samples allowed in dynamic intervals.
      */
     public int getMaxDynamicSamples() {
         return accelerometerMeasurementsGenerator.getMaxDynamicSamples();
     }
 
     /**
      * Sets maximum number of samples allowed in dynamic intervals.
      *
      * @param maxDynamicSamples maximum number of samples allowed in dynamic intervals.
      * @throws LockedException          if generator is busy.
      * @throws IllegalArgumentException if provided value is less than 2.
      */
     public void setMaxDynamicSamples(final int maxDynamicSamples) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setMaxDynamicSamples(maxDynamicSamples);
         gyroscopeMeasurementsGenerator.setMaxDynamicSamples(maxDynamicSamples);
     }
 
     /**
      * Gets listener to handle generated events.
      *
      * @return listener to handle generated events.
      */
     public AccelerometerAndGyroscopeMeasurementsGeneratorListener getListener() {
         return listener;
     }
 
     /**
      * Sets listener to handle generated events.
      *
      * @param listener listener to handle generated events.
      * @throws LockedException if generator is busy.
      */
     public void setListener(final AccelerometerAndGyroscopeMeasurementsGeneratorListener listener)
             throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         this.listener = listener;
     }
 
     /**
      * Gets length of number of samples to keep within the window being processed
      * to determine instantaneous accelerometer noise level.
      *
      * @return length of number of samples to keep within the window.
      */
     public int getWindowSize() {
         return accelerometerMeasurementsGenerator.getWindowSize();
     }
 
     /**
      * Sets length of number of samples to keep within the window being processed
      * to determine instantaneous accelerometer noise level.
      * Window size must always be larger than allowed minimum value, which is 2 and
      * must have an odd value.
      *
      * @param windowSize length of number of samples to keep within the window.
      * @throws LockedException          if detector is busy processing a previous sample.
      * @throws IllegalArgumentException if provided value is not valid.
      */
     public void setWindowSize(final int windowSize) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setWindowSize(windowSize);
         gyroscopeMeasurementsGenerator.setWindowSize(windowSize);
     }
 
     /**
      * Gets number of samples to be processed initially while keeping the sensor static in order
      * to find the base noise level when device is static.
      *
      * @return number of samples to be processed initially.
      */
     public int getInitialStaticSamples() {
         return accelerometerMeasurementsGenerator.getInitialStaticSamples();
     }
 
     /**
      * Sets number of samples to be processed initially while keeping the sensor static in order
      * to find the base noise level when device is static.
      *
      * @param initialStaticSamples number of samples to be processed initially.
      * @throws LockedException          if detector is busy.
      * @throws IllegalArgumentException if provided value is less than
      *                                  {@link TriadStaticIntervalDetector#MINIMUM_INITIAL_STATIC_SAMPLES}
      */
     public void setInitialStaticSamples(final int initialStaticSamples) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setInitialStaticSamples(initialStaticSamples);
         gyroscopeMeasurementsGenerator.setInitialStaticSamples(initialStaticSamples);
     }
 
     /**
      * Gets factor to be applied to detected base noise level in order to
      * determine threshold for static/dynamic period changes. This factor is
      * unit-less.
      *
      * @return factor to be applied to detected base noise level.
      */
     public double getThresholdFactor() {
         return accelerometerMeasurementsGenerator.getThresholdFactor();
     }
 
     /**
      * Sets factor to be applied to detected base noise level in order to
      * determine threshold for static/dynamic period changes. This factor is
      * unit-less.
      *
      * @param thresholdFactor factor to be applied to detected base noise level.
      * @throws LockedException          if detector is busy.
      * @throws IllegalArgumentException if provided value is zero or negative.
      */
     public void setThresholdFactor(final double thresholdFactor) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setThresholdFactor(thresholdFactor);
         gyroscopeMeasurementsGenerator.setThresholdFactor(thresholdFactor);
     }
 
     /**
      * Gets factor to determine that a sudden movement has occurred during
      * initialization if instantaneous noise level exceeds accumulated noise
      * level by this factor amount.
      * This factor is unit-less.
      *
      * @return factor to determine that a sudden movement has occurred.
      */
     public double getInstantaneousNoiseLevelFactor() {
         return accelerometerMeasurementsGenerator.getInstantaneousNoiseLevelFactor();
     }
 
     /**
      * Sets factor to determine that a sudden movement has occurred during
      * initialization if instantaneous noise level exceeds accumulated noise
      * level by this factor amount.
      * This factor is unit-less.
      *
      * @param instantaneousNoiseLevelFactor factor to determine that a sudden
      *                                      movement has occurred during
      *                                      initialization.
      * @throws LockedException          if detector is busy.
      * @throws IllegalArgumentException if provided value is zero or negative.
      */
     public void setInstantaneousNoiseLevelFactor(final double instantaneousNoiseLevelFactor) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setInstantaneousNoiseLevelFactor(instantaneousNoiseLevelFactor);
         gyroscopeMeasurementsGenerator.setInstantaneousNoiseLevelFactor(instantaneousNoiseLevelFactor);
     }
 
     /**
      * Gets overall absolute threshold to determine whether there has been
      * excessive motion during the whole initialization phase.
      * Failure will be detected if estimated base noise level exceeds this
      * threshold when initialization completes.
      * This threshold is expressed in meters per squared second (m/s^2).
      *
      * @return overall absolute threshold to determine whether there has
      * been excessive motion.
      */
     public double getBaseNoiseLevelAbsoluteThreshold() {
         return accelerometerMeasurementsGenerator.getBaseNoiseLevelAbsoluteThreshold();
     }
 
     /**
      * Sets overall absolute threshold to determine whether there has been
      * excessive motion during the whole initialization phase.
      * Failure will be detected if estimated base noise level exceeds this
      * threshold when initialization completes.
      * This threshold is expressed in meters per squared second (m/s^2).
      *
      * @param baseNoiseLevelAbsoluteThreshold overall absolute threshold to
      *                                        determine whether there has been
      *                                        excessive motion.
      * @throws LockedException          if detector is busy.
      * @throws IllegalArgumentException if provided value is zero or negative.
      */
     public void setBaseNoiseLevelAbsoluteThreshold(final double baseNoiseLevelAbsoluteThreshold)
             throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setBaseNoiseLevelAbsoluteThreshold(baseNoiseLevelAbsoluteThreshold);
         gyroscopeMeasurementsGenerator.setBaseNoiseLevelAbsoluteThreshold(baseNoiseLevelAbsoluteThreshold);
     }
 
     /**
      * Gets overall absolute threshold to determine whether there has been
      * excessive motion during the whole initialization phase.
      * Failure will be detected if estimated base noise level exceeds this
      * threshold when initialization completes.
      *
      * @return overall absolute threshold to determine whether there has been
      * excessive motion.
      */
     public Acceleration getBaseNoiseLevelAbsoluteThresholdAsMeasurement() {
         return accelerometerMeasurementsGenerator.getBaseNoiseLevelAbsoluteThresholdAsMeasurement();
     }
 
     /**
      * Gets overall absolute threshold to determine whether there has been
      * excessive motion during the whole initialization phase.
      * Failure will be detected if estimated base noise level exceeds this
      * threshold when initialization completes.
      *
      * @param result instance where result will be stored.
      */
     public void getBaseNoiseLevelAbsoluteThresholdAsMeasurement(final Acceleration result) {
         accelerometerMeasurementsGenerator.getBaseNoiseLevelAbsoluteThresholdAsMeasurement(result);
     }
 
     /**
      * Sets overall absolute threshold to determine whether there has been
      * excessive motion during the whole initialization phase.
      * Failure will be detected if estimated base noise level exceeds this
      * threshold when initialization completes.
      *
      * @param baseNoiseLevelAbsoluteThreshold overall absolute threshold to
      *                                        determine whether there has been
      *                                        excessive motion.
      * @throws LockedException          if detector is busy.
      * @throws IllegalArgumentException if provided value is zero or negative.
      */
     public void setBaseNoiseLevelAbsoluteThreshold(
             final Acceleration baseNoiseLevelAbsoluteThreshold) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.setBaseNoiseLevelAbsoluteThreshold(baseNoiseLevelAbsoluteThreshold);
         gyroscopeMeasurementsGenerator.setBaseNoiseLevelAbsoluteThreshold(baseNoiseLevelAbsoluteThreshold);
     }
 
     /**
      * Gets internal status of this generator.
      *
      * @return internal status of this generator.
      */
     public TriadStaticIntervalDetector.Status getStatus() {
         return accelerometerMeasurementsGenerator.getStatus();
     }
 
     /**
      * Gets accelerometer base noise level that has been detected during
      * initialization expressed in meters per squared second (m/s^2).
      * This is equal to the standard deviation of the accelerometer measurements
      * during initialization phase.
      *
      * @return accelerometer base noise level.
      */
     public double getAccelerometerBaseNoiseLevel() {
         return accelerometerMeasurementsGenerator.getAccelerometerBaseNoiseLevel();
     }
 
     /**
      * Gets accelerometer base noise level that has been detected during
      * initialization.
      * This is equal to the standard deviation of the accelerometer measurements
      * during initialization phase.
      *
      * @return measurement base noise level.
      */
     public Acceleration getAccelerometerBaseNoiseLevelAsMeasurement() {
         return accelerometerMeasurementsGenerator.getAccelerometerBaseNoiseLevelAsMeasurement();
     }
 
     /**
      * Gets accelerometer base noise level that has been detected during
      * initialization.
      *
      * @param result instance where result will be stored.
      */
     public void getAccelerometerBaseNoiseLevelAsMeasurement(final Acceleration result) {
         accelerometerMeasurementsGenerator.getAccelerometerBaseNoiseLevelAsMeasurement(result);
     }
 
     /**
      * Gets accelerometer base noise level PSD (Power Spectral Density)
      * expressed in (m^2 * s^-3).
      *
      * @return accelerometer base noise level PSD.
      */
     public double getAccelerometerBaseNoiseLevelPsd() {
         return accelerometerMeasurementsGenerator.getAccelerometerBaseNoiseLevelPsd();
     }
 
     /**
      * Gets accelerometer base noise level root PSD (Power Spectral Density)
      * expressed in (m * s^-1.5).
      *
      * @return accelerometer base noise level root PSD.
      */
     @Override
     public double getAccelerometerBaseNoiseLevelRootPsd() {
         return accelerometerMeasurementsGenerator.getAccelerometerBaseNoiseLevelRootPsd();
     }
 
     /**
      * Gets threshold to determine static/dynamic period changes expressed in
      * meters per squared second (m/s^2).
      *
      * @return threshold to determine static/dynamic period changes.
      */
     public double getThreshold() {
         return accelerometerMeasurementsGenerator.getThreshold();
     }
 
     /**
      * Gets threshold to determine static/dynamic period changes.
      *
      * @return threshold to determine static/dynamic period changes.
      */
     public Acceleration getThresholdAsMeasurement() {
         return accelerometerMeasurementsGenerator.getThresholdAsMeasurement();
     }
 
     /**
      * Gets threshold to determine static/dynamic period changes.
      *
      * @param result instance where result will be stored.
      */
     public void getThresholdAsMeasurement(final Acceleration result) {
         accelerometerMeasurementsGenerator.getThresholdAsMeasurement(result);
     }
 
     /**
      * Gets number of samples that have been processed in a static period so far.
      *
      * @return number of samples that have been processed in a static period so far.
      */
     public int getProcessedStaticSamples() {
         return accelerometerMeasurementsGenerator.getProcessedStaticSamples();
     }
 
     /**
      * Gets number of samples that have been processed in a dynamic period so far.
      *
      * @return number of samples that have been processed in a dynamic period so far.
      */
     public int getProcessedDynamicSamples() {
         return accelerometerMeasurementsGenerator.getProcessedDynamicSamples();
     }
 
     /**
      * Indicates whether last static interval must be skipped.
      *
      * @return true if last static interval must be skipped.
      */
     public boolean isStaticIntervalSkipped() {
         return accelerometerMeasurementsGenerator.isStaticIntervalSkipped();
     }
 
     /**
      * Indicates whether last dynamic interval must be skipped.
      *
      * @return true if last dynamic interval must be skipped.
      */
     public boolean isDynamicIntervalSkipped() {
         return accelerometerMeasurementsGenerator.isDynamicIntervalSkipped();
     }
 
     /**
      * Indicates whether generator is running or not.
      *
      * @return true if generator is running, false otherwise.
      */
     public boolean isRunning() {
         return running;
     }
 
     /**
      * Processes a sample of data.
      *
      * @param sample sample of data to be processed.
      * @return true if provided samples has been processed, false if provided triad has been skipped because
      * generator previously failed. If generator previously failed, it will need to be reset before
      * processing additional samples.
      * @throws LockedException if generator is busy processing a previous sample.
      */
     public boolean process(final TimedBodyKinematics sample) throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         try {
             running = true;
             return accelerometerMeasurementsGenerator.process(sample.getKinematics())
                     && gyroscopeMeasurementsGenerator.process(sample);
         } finally {
             running = false;
         }
     }
 
     /**
      * Resets this generator.
      *
      * @throws LockedException if generator is busy.
      */
     public void reset() throws LockedException {
         if (running) {
             throw new LockedException();
         }
 
         accelerometerMeasurementsGenerator.reset();
         gyroscopeMeasurementsGenerator.reset();
 
         if (listener != null) {
             listener.onReset(this);
         }
     }
 
     /**
      * Gets estimated average angular rate during initialization phase.
      *
      * @return estimated average angular rate during initialization phase.
      */
     public AngularSpeedTriad getInitialAvgAngularSpeedTriad() {
         return gyroscopeMeasurementsGenerator.getInitialAvgAngularSpeedTriad();
     }
 
     /**
      * Gets estimated average angular rate during initialization phase.
      *
      * @param result instance where result will be stored.
      */
     public void getInitialAvgAngularSpeedTriad(final AngularSpeedTriad result) {
         gyroscopeMeasurementsGenerator.getInitialAvgAngularSpeedTriad(result);
     }
 
     /**
      * Gets estimated standard deviation of angular rate during initialization phase.
      *
      * @return estimated standard deviation of angular rate during initialization phase.
      */
     public AngularSpeedTriad getInitialAngularSpeedTriadStandardDeviation() {
         return gyroscopeMeasurementsGenerator.getInitialAngularSpeedTriadStandardDeviation();
     }
 
     /**
      * Gets estimated standard deviation of angular rate during initialization phase.
      *
      * @param result instance where result will be stored.
      */
     public void getInitialAngularSpeedTriadStandardDeviation(final AngularSpeedTriad result) {
         gyroscopeMeasurementsGenerator.getInitialAngularSpeedTriadStandardDeviation(result);
     }
 
     /**
      * Gets gyroscope base noise level that has been detected during
      * initialization expressed in radians per second (rad/s).
      * This is equal to the standard deviation of the gyroscope measurements
      * during initialization phase.
      *
      * @return gyroscope base noise level.
      */
     public double getGyroscopeBaseNoiseLevel() {
         return gyroscopeMeasurementsGenerator.getGyroscopeBaseNoiseLevel();
     }
 
     /**
      * Gets gyroscope base noise level that has been detected during
      * initialization.
      * This is equal to the standard deviation of the gyroscope measurements
      * during initialization phase.
      *
      * @return gyroscope base noise level.
      */
     public AngularSpeed getGyroscopeBaseNoiseLevelAsMeasurement() {
         return gyroscopeMeasurementsGenerator.getGyroscopeBaseNoiseLevelAsMeasurement();
     }
 
     /**
      * Gets gyroscope base noise level that has been detected during
      * initialization.
      * This is equal to the standard deviation of the gyroscope measurements
      * during initialization phase.
      *
      * @param result instance where result will be stored.
      */
     public void getGyroscopeBaseNoiseLevelAsMeasurement(final AngularSpeed result) {
         gyroscopeMeasurementsGenerator.getGyroscopeBaseNoiseLevelAsMeasurement(result);
     }
 
     /**
      * Gets gyroscope base noise level PSD (Power Spectral Density)
      * expressed in (rad^2/s).
      *
      * @return gyroscope base noise level PSD.
      */
     public double getGyroscopeBaseNoiseLevelPsd() {
         return gyroscopeMeasurementsGenerator.getGyroscopeBaseNoiseLevelPsd();
     }
 
     /**
      * Gets gyroscope base noise level root PSD (Power Spectral Density)
      * expressed in (rad * s^-0.5)
      *
      * @return gyroscope base noise level root PSD.
      */
     @Override
     public double getGyroscopeBaseNoiseLevelRootPsd() {
         return gyroscopeMeasurementsGenerator.getGyroscopeBaseNoiseLevelRootPsd();
     }
 }