1 /*
2 * Copyright (C) 2021 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.gyroscope;
17
18 import com.irurueta.navigation.LockedException;
19 import com.irurueta.navigation.inertial.calibration.BodyKinematicsSequence;
20 import com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics;
21
22 import java.util.List;
23
24 /**
25 * Defines a gyroscope calibrator using ordered lists of
26 * {@link BodyKinematicsSequence} sequences.
27 */
28 public interface OrderedBodyKinematicsSequenceGyroscopeCalibrator extends GyroscopeCalibrator {
29
30 /**
31 * Gets collection of sequences of timestamped body kinematics
32 * measurements taken at a given position where the device moves freely
33 * with different orientations.
34 *
35 * @return collection of sequences of timestamped body kinematics
36 * measurements.
37 */
38 List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> getSequences();
39
40 /**
41 * Sets collection of sequences of timestamped body kinematics
42 * measurements taken at a given position where the device moves freely
43 * with different orientations.
44 *
45 * @param sequences collection of sequences of timestamped body
46 * kinematics measurements.
47 * @throws LockedException if calibrator is currently running.
48 */
49 void setSequences(final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences)
50 throws LockedException;
51 }