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.StandardDeviationBodyKinematics;
20
21 import java.util.List;
22
23 /**
24 * Defines a gyroscope calibrator using ordered lists of
25 * {@link StandardDeviationBodyKinematics} measurements.
26 */
27 public interface OrderedStandardDeviationBodyKinematicsGyroscopeCalibrator extends GyroscopeCalibrator {
28
29 /**
30 * Gets a collection of body kinematics measurements taken at
31 * a given position with different unknown orientations and containing
32 * the standard deviations of accelerometer and gyroscope measurements.
33 *
34 * @return collection of body kinematics measurements at a known position
35 * with unknown orientations.
36 */
37 List<StandardDeviationBodyKinematics> getMeasurements();
38
39 /**
40 * Sets a collection of body kinematics measurements taken at
41 * a given position with different unknown orientations and containing
42 * the standard deviations of accelerometer and gyroscope measurements.
43 *
44 * @param measurements collection of body kinematics measurements at a
45 * known position with unknown orientations.
46 * @throws LockedException if calibrator is currently running.
47 */
48 void setMeasurements(final List<StandardDeviationBodyKinematics> measurements) throws LockedException;
49 }