/*
    * 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.gyroscope;
  
  import com.irurueta.algebra.Matrix;
  import com.irurueta.navigation.LockedException;
  import com.irurueta.navigation.NotReadyException;
  import com.irurueta.navigation.inertial.calibration.CalibrationException;
  import com.irurueta.navigation.inertial.calibration.StandardDeviationFrameBodyKinematics;
  import com.irurueta.numerical.robust.MSACRobustEstimator;
  import com.irurueta.numerical.robust.MSACRobustEstimatorListener;
  import com.irurueta.numerical.robust.RobustEstimator;
  import com.irurueta.numerical.robust.RobustEstimatorException;
  import com.irurueta.numerical.robust.RobustEstimatorMethod;
  import com.irurueta.units.AngularSpeed;
  
  import java.util.List;
  
  /**
   * Robustly estimates gyroscope cross couplings and scaling factors
   * along with G-dependent cross biases introduced on the gyroscope by the
   * specific forces sensed by the accelerometer using an MSAC algorithm to discard
   * outliers.
   * This estimator assumes that biases are known.
   * <p>
   * To use this calibrator at least 6 measurements at different known frames must
   * be provided. In other words, accelerometer and gyroscope (i.e. body kinematics)
   * samples must be obtained at 6 different positions, orientations and velocities
   * (although typically velocities are always zero).
   * <p>
   * Measured gyroscope angular rates is assumed to follow the model shown below:
   * <pre>
   *     Ωmeas = bg + (I + Mg) * Ωtrue + Gg * ftrue + w
   * </pre>
   * Where:
   * - Ωmeas is the measured gyroscope angular rates. This is a 3x1 vector.
   * - bg is the gyroscope bias. Ideally, on a perfect gyroscope, this should be a
   * 3x1 zero vector.
   * - I is the 3x3 identity matrix.
   * - Mg is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on
   * a perfect gyroscope, this should be a 3x3 zero matrix.
   * - Ωtrue is ground-truth gyroscope angular rates.
   * - Gg is the G-dependent cross biases introduced by the specific forces sensed
   * by the accelerometer. Ideally, on a perfect gyroscope, this should be a 3x3
   * zero matrix.
   * - ftrue is ground-truth specific force. This is a 3x1 vector.
   * - w is measurement noise. This is a 3x1 vector.
   */
  public class MSACRobustKnownBiasAndFrameGyroscopeCalibrator extends RobustKnownBiasAndFrameGyroscopeCalibrator {
      /**
       * Constant defining default threshold to determine whether samples are inliers or not.
       */
      public static final double DEFAULT_THRESHOLD = 1e-2;
  
      /**
       * Minimum value that can be set as threshold.
       * Threshold must be strictly greater than 0.0.
       */
      public static final double MIN_THRESHOLD = 0.0;
  
      /**
       * Threshold to determine whether samples are inliers or not when testing possible solutions.
       * The threshold refers to the amount of error on distance between estimated position and
       * distances provided for each sample.
       */
      private double threshold = DEFAULT_THRESHOLD;
  
      /**
       * Constructor.
       */
      public MSACRobustKnownBiasAndFrameGyroscopeCalibrator() {
          super();
      }
  
      /**
       * Constructor.
       *
       * @param listener listener to be notified of events such as when estimation
       *                 starts, ends or its progress significantly changes.
       */
      public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
              final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
          super(listener);
      }
  
      /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements) {
         super(measurements);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param listener     listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, listener);
     }
 
     /**
      * Constructor.
      *
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(final boolean commonAxisUsed) {
         super(commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final boolean commonAxisUsed, final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final boolean commonAxisUsed) {
         super(measurements, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final boolean commonAxisUsed, final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param biasX known x coordinate of gyroscope bias expressed in radians per
      *              second (rad/s).
      * @param biasY known y coordinate of gyroscope bias expressed in radians per
      *              second (rad/s).
      * @param biasZ known z coordinate of gyroscope bias expressed in radians per
      *              second (rad/s).
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(final double biasX, final double biasY, final double biasZ) {
         super(biasX, biasY, biasZ);
     }
 
     /**
      * Constructor.
      *
      * @param biasX    known x coordinate of gyroscope bias expressed in radians per
      *                 second (rad/s).
      * @param biasY    known y coordinate of gyroscope bias expressed in radians per
      *                 second (rad/s).
      * @param biasZ    known z coordinate of gyroscope bias expressed in radians per
      *                 second (rad/s).
      * @param listener listener to be notified of events such as when estimation
      *                 starts, ends or its progress significantly changes.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final double biasX, final double biasY, final double biasZ,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(biasX, biasY, biasZ, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param biasX        known x coordinate of gyroscope bias expressed in radians per
      *                     second (rad/s).
      * @param biasY        known y coordinate of gyroscope bias expressed in radians per
      *                     second (rad/s).
      * @param biasZ        known z coordinate of gyroscope bias expressed in radians per
      *                     second (rad/s).
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final double biasX, final double biasY, final double biasZ) {
         super(measurements, biasX, biasY, biasZ);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param biasX        known x coordinate of gyroscope bias expressed in radians per
      *                     second (rad/s).
      * @param biasY        known y coordinate of gyroscope bias expressed in radians per
      *                     second (rad/s).
      * @param biasZ        known z coordinate of gyroscope bias expressed in radians per
      *                     second (rad/s).
      * @param listener     listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final double biasX, final double biasY, final double biasZ,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, biasX, biasY, biasZ, listener);
     }
 
     /**
      * Constructor.
      *
      * @param biasX          known x coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasY          known y coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasZ          known z coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed) {
         super(biasX, biasY, biasZ, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param biasX          known x coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasY          known y coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasZ          known z coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(biasX, biasY, biasZ, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param biasX          known x coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasY          known y coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasZ          known z coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed) {
         super(measurements, biasX, biasY, biasZ, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param biasX          known x coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasY          known y coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param biasZ          known z coordinate of gyroscope bias expressed in radians per
      *                       second (rad/s).
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final double biasX, final double biasY, final double biasZ, final boolean commonAxisUsed,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, biasX, biasY, biasZ, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param biasX known x coordinate of gyroscope bias.
      * @param biasY known y coordinate of gyroscope bias.
      * @param biasZ known z coordinate of gyroscope bias.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ) {
         super(biasX, biasY, biasZ);
     }
 
     /**
      * Constructor.
      *
      * @param biasX    known x coordinate of gyroscope bias.
      * @param biasY    known y coordinate of gyroscope bias.
      * @param biasZ    known z coordinate of gyroscope bias.
      * @param listener listener to be notified of events such as when estimation
      *                 starts, ends or its progress significantly changes.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(biasX, biasY, biasZ, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param biasX        known x coordinate of gyroscope bias.
      * @param biasY        known y coordinate of gyroscope bias.
      * @param biasZ        known z coordinate of gyroscope bias.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ) {
         super(measurements, biasX, biasY, biasZ);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param biasX        known x coordinate of gyroscope bias.
      * @param biasY        known y coordinate of gyroscope bias.
      * @param biasZ        known z coordinate of gyroscope bias.
      * @param listener     listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, biasX, biasY, biasZ, listener);
     }
 
     /**
      * Constructor.
      *
      * @param biasX          known x coordinate of gyroscope bias.
      * @param biasY          known y coordinate of gyroscope bias.
      * @param biasZ          known z coordinate of gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ,
             final boolean commonAxisUsed) {
         super(biasX, biasY, biasZ, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param biasX          known x coordinate of gyroscope bias.
      * @param biasY          known y coordinate of gyroscope bias.
      * @param biasZ          known z coordinate of gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ, final boolean commonAxisUsed,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(biasX, biasY, biasZ, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param biasX          known x coordinate of gyroscope bias.
      * @param biasY          known y coordinate of gyroscope bias.
      * @param biasZ          known z coordinate of gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ,
             final boolean commonAxisUsed) {
         super(measurements, biasX, biasY, biasZ, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param biasX          known x coordinate of gyroscope bias.
      * @param biasY          known y coordinate of gyroscope bias.
      * @param biasZ          known z coordinate of gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements,
             final AngularSpeed biasX, final AngularSpeed biasY, final AngularSpeed biasZ, final boolean commonAxisUsed,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, biasX, biasY, biasZ, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param bias known gyroscope bias.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(final double[] bias) {
         super(bias);
     }
 
     /**
      * Constructor.
      *
      * @param bias     known gyroscope bias.
      * @param listener listener to be notified of events such as when estimation
      *                 starts, ends or its progress significantly changes.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final double[] bias, final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(bias, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param bias         known gyroscope bias.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final double[] bias) {
         super(measurements, bias);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param bias         known gyroscope bias.
      * @param listener     listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final double[] bias,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, bias, listener);
     }
 
     /**
      * Constructor.
      *
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(final double[] bias, final boolean commonAxisUsed) {
         super(bias, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final double[] bias, final boolean commonAxisUsed,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(bias, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final double[] bias,
             final boolean commonAxisUsed) {
         super(measurements, bias, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided array does not have length 3.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final double[] bias,
             final boolean commonAxisUsed, final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, bias, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param bias known gyroscope bias.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(final Matrix bias) {
         super(bias);
     }
 
     /**
      * Constructor.
      *
      * @param bias     known gyroscope bias.
      * @param listener listener to be notified of events such as when estimation
      *                 starts, ends or its progress significantly changes.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final Matrix bias, final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(bias, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param bias         known gyroscope bias.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias) {
         super(measurements, bias);
     }
 
     /**
      * Constructor.
      *
      * @param measurements list of body kinematics measurements with standard
      *                     deviations taken at different frames (positions, orientations
      *                     and velocities).
      * @param bias         known gyroscope bias.
      * @param listener     listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, bias, listener);
     }
 
     /**
      * Constructor.
      *
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(final Matrix bias, final boolean commonAxisUsed) {
         super(bias, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final Matrix bias, final boolean commonAxisUsed,
             final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(bias, commonAxisUsed, listener);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
             final boolean commonAxisUsed) {
         super(measurements, bias, commonAxisUsed);
     }
 
     /**
      * Constructor.
      *
      * @param measurements   list of body kinematics measurements with standard
      *                       deviations taken at different frames (positions, orientations
      *                       and velocities).
      * @param bias           known gyroscope bias.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common for
      *                       accelerometer and gyroscope.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided matrix is not 3x1.
      */
     public MSACRobustKnownBiasAndFrameGyroscopeCalibrator(
             final List<StandardDeviationFrameBodyKinematics> measurements, final Matrix bias,
             final boolean commonAxisUsed, final RobustKnownBiasAndFrameGyroscopeCalibratorListener listener) {
         super(measurements, bias, commonAxisUsed, listener);
     }
 
     /**
      * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
      * The threshold refers to the amount of error on norm between measured angular rates and the
      * ones generated with estimated calibration parameters provided for each sample.
      *
      * @return threshold to determine whether samples are inliers or not.
      */
     public double getThreshold() {
         return threshold;
     }
 
     /**
      * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
      * The threshold refers to the amount of error on norm between measured angular rates and the
      * ones generated with estimated calibration parameters provided for each sample.
      *
      * @param threshold threshold to determine whether samples are inliers or not.
      * @throws IllegalArgumentException if provided value is equal or less than zero.
      * @throws LockedException          if calibrator is currently running.
      */
     public void setThreshold(final double threshold) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         if (threshold <= MIN_THRESHOLD) {
             throw new IllegalArgumentException();
         }
         this.threshold = threshold;
     }
 
     /**
      * Estimates gyroscope calibration parameters containing bias, scale factors
      * cross-coupling errors and g-dependant cross biases.
      *
      * @throws LockedException      if calibrator is currently running.
      * @throws NotReadyException    if calibrator is not ready.
      * @throws CalibrationException if estimation fails for numerical reasons.
      */
     @SuppressWarnings("DuplicatedCode")
     @Override
     public void calibrate() throws LockedException, NotReadyException, CalibrationException {
         if (running) {
             throw new LockedException();
         }
         if (!isReady()) {
             throw new NotReadyException();
         }
 
         final var innerEstimator = new MSACRobustEstimator<>(new MSACRobustEstimatorListener<PreliminaryResult>() {
             @Override
             public double getThreshold() {
                 return threshold;
             }
 
             @Override
             public int getTotalSamples() {
                 return measurements.size();
             }
 
             @Override
             public int getSubsetSize() {
                 return preliminarySubsetSize;
             }
 
             @Override
             public void estimatePreliminarSolutions(
                     final int[] samplesIndices, final List<PreliminaryResult> solutions) {
                 computePreliminarySolutions(samplesIndices, solutions);
             }
 
             @Override
             public double computeResidual(final PreliminaryResult currentEstimation, final int i) {
                 return computeError(measurements.get(i), currentEstimation);
             }
 
             @Override
             public boolean isReady() {
                 return MSACRobustKnownBiasAndFrameGyroscopeCalibrator.super.isReady();
             }
 
             @Override
             public void onEstimateStart(final RobustEstimator<PreliminaryResult> estimator) {
                 // no action needed
             }
 
             @Override
             public void onEstimateEnd(final RobustEstimator<PreliminaryResult> estimator) {
                 // no action needed
             }
 
             @Override
             public void onEstimateNextIteration(
                     final RobustEstimator<PreliminaryResult> estimator, final int iteration) {
                 if (listener != null) {
                     listener.onCalibrateNextIteration(
                             MSACRobustKnownBiasAndFrameGyroscopeCalibrator.this, iteration);
                 }
             }
 
             @Override
             public void onEstimateProgressChange(
                     final RobustEstimator<PreliminaryResult> estimator, final float progress) {
                 if (listener != null) {
                     listener.onCalibrateProgressChange(
                             MSACRobustKnownBiasAndFrameGyroscopeCalibrator.this, progress);
                 }
             }
         });
 
         try {
             running = true;
 
             if (listener != null) {
                 listener.onCalibrateStart(this);
             }
 
             inliersData = null;
             innerEstimator.setConfidence(confidence);
             innerEstimator.setMaxIterations(maxIterations);
             innerEstimator.setProgressDelta(progressDelta);
             final var preliminaryResult = innerEstimator.estimate();
             inliersData = innerEstimator.getInliersData();
 
             attemptRefine(preliminaryResult);
 
             if (listener != null) {
                 listener.onCalibrateEnd(this);
             }
 
         } catch (final com.irurueta.numerical.LockedException e) {
             throw new LockedException(e);
         } catch (final com.irurueta.numerical.NotReadyException e) {
             throw new NotReadyException(e);
         } catch (final RobustEstimatorException e) {
             throw new CalibrationException(e);
         } finally {
             running = false;
         }
     }
 
     /**
      * Returns method being used for robust estimation.
      *
      * @return method being used for robust estimation.
      */
     @Override
     public RobustEstimatorMethod getMethod() {
         return RobustEstimatorMethod.MSAC;
     }
 
     /**
      * Indicates whether this calibrator requires quality scores for each
      * measurement/sequence or not.
      *
      * @return true if quality scores are required, false otherwise.
      */
     @Override
     public boolean isQualityScoresRequired() {
         return false;
     }
 }