/*
    * 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.AlgebraException;
  import com.irurueta.algebra.Matrix;
  import com.irurueta.navigation.LockedException;
  import com.irurueta.navigation.NotReadyException;
  import com.irurueta.navigation.inertial.calibration.BodyKinematicsSequence;
  import com.irurueta.navigation.inertial.calibration.CalibrationException;
  import com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics;
  import com.irurueta.numerical.robust.PROSACRobustEstimator;
  import com.irurueta.numerical.robust.PROSACRobustEstimatorListener;
  import com.irurueta.numerical.robust.RobustEstimator;
  import com.irurueta.numerical.robust.RobustEstimatorException;
  import com.irurueta.numerical.robust.RobustEstimatorMethod;
  
  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 PROSAC robust estimator.
   * <p>
   * This calibrator assumes that the IMU is at a more or less fixed location on
   * Earth, and evaluates sequences of measured body kinematics to perform
   * calibration for unknown orientations on those provided sequences.
   * Each provided sequence will be preceded by a static period where mean
   * specific force will be measured to determine gravity (and hence partial
   * body attitude).
   * <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 PROSACRobustKnownBiasEasyGyroscopeCalibrator extends RobustKnownBiasEasyGyroscopeCalibrator {
  
      /**
       * Constant defining default threshold to determine whether samples are inliers or not.
       */
      public static final double DEFAULT_THRESHOLD = 1e-3;
  
      /**
       * Minimum value that can be set as threshold.
       * Threshold must be strictly greater than 0.0.
       */
      public static final double MIN_THRESHOLD = 0.0;
  
      /**
       * Indicates that by default inliers will only be computed but not kept.
       */
      public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS = false;
  
      /**
       * Indicates that by default residuals will only be computed but not kept.
       */
      public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS = false;
  
      /**
       * Threshold to determine whether samples are inliers or not when testing possible solutions.
       * The threshold refers to the amount of error between integrated rotations
       * of sequences.
       */
      private double threshold = DEFAULT_THRESHOLD;
  
      /**
       * Indicates whether inliers must be computed and kept.
       */
      private boolean computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
  
      /**
       * Indicates whether residuals must be computed and kept.
      */
     private boolean computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
 
     /**
      * Quality scores corresponding to each provided sample.
      * The larger the score value the better the quality of the sample.
      */
     private double[] qualityScores;
 
     /**
      * Constructor.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator() {
         super();
     }
 
     /**
      * Constructor.
      *
      * @param sequences collection of sequences containing timestamped body
      *                  kinematics measurements.
      * @param bias      gyroscope known bias. This must be 3x1 and is
      *                  expressed in radians per second (rad/s).
      * @param initialMg initial gyroscope scale factors and cross coupling
      *                  errors matrix. Must be 3x3.
      * @param initialGg initial gyroscope G-dependent cross biases
      *                  introduced on the gyroscope by the specific forces
      *                  sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg) {
         super(sequences, bias, initialMg, initialGg);
     }
 
     /**
      * Constructor.
      *
      * @param sequences collection of sequences containing timestamped body
      *                  kinematics measurements.
      * @param bias      gyroscope known bias. This must be 3x1 and is
      *                  expressed in radians per second (rad/s).
      * @param initialMg initial gyroscope scale factors and cross coupling
      *                  errors matrix. Must be 3x3.
      * @param initialGg initial gyroscope G-dependent cross biases
      *                  introduced on the gyroscope by the specific forces
      *                  sensed by the accelerometer. Must be 3x3.
      * @param listener  listener to handle events raised by this
      *                  calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, listener);
     }
 
     /**
      * Constructor.
      *
      * @param sequences collection of sequences containing timestamped body
      *                  kinematics measurements.
      * @param bias      gyroscope known bias. This must have length 3 and is
      *                  expressed in radians per second (rad/s).
      * @param initialMg initial gyroscope scale factors and cross coupling
      *                  errors matrix. Must be 3x3.
      * @param initialGg initial gyroscope G-dependent cross biases
      *                  introduced on the gyroscope by the specific forces
      *                  sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
             final Matrix initialMg, final Matrix initialGg) {
         super(sequences, bias, initialMg, initialGg);
     }
 
     /**
      * Constructor.
      *
      * @param sequences collection of sequences containing timestamped body
      *                  kinematics measurements.
      * @param bias      gyroscope known bias. This must have length 3 and is
      *                  expressed in radians per second (rad/s).
      * @param initialMg initial gyroscope scale factors and cross coupling
      *                  errors matrix. Must be 3x3.
      * @param initialGg initial gyroscope G-dependent cross biases
      *                  introduced on the gyroscope by the specific forces
      *                  sensed by the accelerometer. Must be 3x3.
      * @param listener  listener to handle events raised by this
      *                  calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
             final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, listener);
     }
 
     /**
      * Constructor.
      *
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must have length 3 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must
      *                          have length 3 and is expressed in
      *                          meters per squared second
      *                          (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final double[] bias, final Matrix initialMg, final Matrix initialGg,
             final double[] accelerometerBias, final Matrix accelerometerMa) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
     }
 
     /**
      * Constructor.
      *
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must have length 3 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must
      *                          have length 3 and is expressed in
      *                          meters per squared second
      *                          (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @param listener          listener to handle events raised by this
      *                          calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final double[] bias, final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener);
     }
 
     /**
      * Constructor.
      *
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must be 3x1 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must be 3x1
      *                          and is expressed in meters per squared
      *                          second (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
     }
 
     /**
      * Constructor.
      *
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must be 3x1 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must be 3x1
      *                          and is expressed in meters per squared
      *                          second (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @param listener          listener to handle events raised by this
      *                          calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases,
             final Matrix bias, final Matrix initialMg, final Matrix initialGg) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases,
             final Matrix bias, final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, listener);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases,
             final double[] bias, final Matrix initialMg, final Matrix initialGg) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
             final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, listener);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
             final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
             final Matrix accelerometerMa) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
             final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa, listener);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa);
     }
 
     /**
      * Constructor.
      *
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa, listener);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      sequence. The larger the score value the better
      *                      the quality of the sequence.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(final double[] qualityScores) {
         super();
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      sequence. The larger the score value the better
      *                      the quality of the sequence.
      * @param sequences     collection of sequences containing timestamped body
      *                      kinematics measurements.
      * @param bias          gyroscope known bias. This must be 3x1 and is
      *                      expressed in radians per second (rad/s).
      * @param initialMg     initial gyroscope scale factors and cross coupling
      *                      errors matrix. Must be 3x3.
      * @param initialGg     initial gyroscope G-dependent cross biases
      *                      introduced on the gyroscope by the specific forces
      *                      sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg) {
         super(sequences, bias, initialMg, initialGg);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      sequence. The larger the score value the better
      *                      the quality of the sequence.
      * @param sequences     collection of sequences containing timestamped body
      *                      kinematics measurements.
      * @param bias          gyroscope known bias. This must be 3x1 and is
      *                      expressed in radians per second (rad/s).
      * @param initialMg     initial gyroscope scale factors and cross coupling
      *                      errors matrix. Must be 3x3.
      * @param initialGg     initial gyroscope G-dependent cross biases
      *                      introduced on the gyroscope by the specific forces
      *                      sensed by the accelerometer. Must be 3x3.
      * @param listener      listener to handle events raised by this
      *                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      sequence. The larger the score value the better
      *                      the quality of the sequence.
      * @param sequences     collection of sequences containing timestamped body
      *                      kinematics measurements.
      * @param bias          gyroscope known bias. This must have length 3 and is
      *                      expressed in radians per second (rad/s).
      * @param initialMg     initial gyroscope scale factors and cross coupling
      *                      errors matrix. Must be 3x3.
      * @param initialGg     initial gyroscope G-dependent cross biases
      *                      introduced on the gyroscope by the specific forces
      *                      sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
             final Matrix initialMg, final Matrix initialGg) {
         super(sequences, bias, initialMg, initialGg);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      sequence. The larger the score value the better
      *                      the quality of the sequence.
      * @param sequences     collection of sequences containing timestamped body
      *                      kinematics measurements.
      * @param bias          gyroscope known bias. This must have length 3 and is
      *                      expressed in radians per second (rad/s).
      * @param initialMg     initial gyroscope scale factors and cross coupling
      *                      errors matrix. Must be 3x3.
      * @param initialGg     initial gyroscope G-dependent cross biases
      *                      introduced on the gyroscope by the specific forces
      *                      sensed by the accelerometer. Must be 3x3.
      * @param listener      listener to handle events raised by this
      *                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
             final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores     quality scores corresponding to each provided
      *                          sequence. The larger the score value the better
      *                          the quality of the sequence.
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must have length 3 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must
      *                          have length 3 and is expressed in
      *                          meters per squared second
      *                          (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
             final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
             final Matrix accelerometerMa) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores     quality scores corresponding to each provided
      *                          sequence. The larger the score value the better
      *                          the quality of the sequence.
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must have length 3 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must
      *                          have length 3 and is expressed in
      *                          meters per squared second
      *                          (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @param listener          listener to handle events raised by this
      *                          calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final double[] bias,
             final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores     quality scores corresponding to each provided
      *                          sequence. The larger the score value the better
      *                          the quality of the sequence.
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must be 3x1 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must be 3x1
      *                          and is expressed in meters per squared
      *                          second (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores     quality scores corresponding to each provided
      *                          sequence. The larger the score value the better
      *                          the quality of the sequence.
      * @param sequences         collection of sequences containing timestamped body
      *                          kinematics measurements.
      * @param bias              gyroscope known bias. This must be 3x1 and is
      *                          expressed in radians per second (rad/s).
      * @param initialMg         initial gyroscope scale factors and cross coupling
      *                          errors matrix. Must be 3x3.
      * @param initialGg         initial gyroscope G-dependent cross biases
      *                          introduced on the gyroscope by the specific forces
      *                          sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias known accelerometer bias. This must be 3x1
      *                          and is expressed in meters per squared
      *                          second (m/s^2).
      * @param accelerometerMa   known accelerometer scale factors and
      *                          cross coupling matrix. Must be 3x3.
      * @param listener          listener to handle events raised by this
      *                          calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, bias, initialMg, initialGg, accelerometerBias, accelerometerMa, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
             final Matrix initialMg, final Matrix initialGg) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
             final Matrix initialMg, final Matrix initialGg,
             final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
             final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
             final Matrix accelerometerMa) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must have length 3 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final double[] bias,
             final Matrix initialMg, final Matrix initialGg, final double[] accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores                 quality scores corresponding to each provided
      *                                      sequence. The larger the score value the better
      *                                      the quality of the sequence.
      * @param sequences                     collection of sequences containing timestamped body
      *                                      kinematics measurements.
      * @param commonAxisUsed                indicates whether z-axis is
      *                                      assumed to be common for
      *                                      accelerometer and gyroscope.
      * @param estimateGDependentCrossBiases true if G-dependent cross biases
      *                                      will be estimated, false
      *                                      otherwise.
      * @param bias                          gyroscope known bias. This must be 3x1 and is
      *                                      expressed in radians per second (rad/s).
      * @param initialMg                     initial gyroscope scale factors and cross coupling
      *                                      errors matrix. Must be 3x3.
      * @param initialGg                     initial gyroscope G-dependent cross biases
      *                                      introduced on the gyroscope by the specific forces
      *                                      sensed by the accelerometer. Must be 3x3.
      * @param accelerometerBias             known accelerometer bias. This
      *                                      must have length 3 and is
      *                                      expressed in meters per squared
      *                                      second (m/s^2).
      * @param accelerometerMa               known accelerometer scale factors
      *                                      and cross coupling matrix. Must
      *                                      be 3x3.
      * @param listener                      listener to handle events raised by this
      *                                      calibrator.
      * @throws IllegalArgumentException if any of the provided values does
      *                                  not have proper size or if provided
      *                                  quality scores length is smaller
      *                                  than 10.
      */
     public PROSACRobustKnownBiasEasyGyroscopeCalibrator(
             final double[] qualityScores,
             final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> sequences,
             final boolean commonAxisUsed, final boolean estimateGDependentCrossBiases, final Matrix bias,
             final Matrix initialMg, final Matrix initialGg, final Matrix accelerometerBias,
             final Matrix accelerometerMa, final RobustKnownBiasEasyGyroscopeCalibratorListener listener) {
         super(sequences, commonAxisUsed, estimateGDependentCrossBiases, bias, initialMg, initialGg, accelerometerBias,
                 accelerometerMa, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * 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 specific forces 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 specific forces 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;
     }
 
     /**
      * Returns quality scores corresponding to each provided sequence.
      * The larger the score value the better the quality of the sequence.
      *
      * @return quality scores corresponding to each sample.
      */
     @Override
     public double[] getQualityScores() {
         return qualityScores;
     }
 
     /**
      * Sets quality scores corresponding to each provided sequence.
      * The larger the score value the better the quality of the sequence.
      *
      * @param qualityScores quality scores corresponding to each sequence.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than minimum required samples.
      * @throws LockedException          if calibrator is currently running.
      */
     @Override
     public void setQualityScores(final double[] qualityScores) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Indicates whether calibrator is ready to find a solution.
      *
      * @return true if calibrator is ready, false otherwise.
      */
     @Override
     public boolean isReady() {
         return super.isReady() && qualityScores != null && qualityScores.length == sequences.size();
     }
 
     /**
      * Indicates whether inliers must be computed and kept.
      *
      * @return true if inliers must be computed and kept, false if inliers
      * only need to be computed but not kept.
      */
     public boolean isComputeAndKeepInliersEnabled() {
         return computeAndKeepInliers;
     }
 
     /**
      * Specifies whether inliers must be computed and kept.
      *
      * @param computeAndKeepInliers true if inliers must be computed and kept,
      *                              false if inliers only need to be computed but not kept.
      * @throws LockedException if calibrator is currently running.
      */
     public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         this.computeAndKeepInliers = computeAndKeepInliers;
     }
 
     /**
      * Indicates whether residuals must be computed and kept.
      *
      * @return true if residuals must be computed and kept, false if residuals
      * only need to be computed but not kept.
      */
     public boolean isComputeAndKeepResiduals() {
         return computeAndKeepResiduals;
     }
 
     /**
      * Specifies whether residuals must be computed and kept.
      *
      * @param computeAndKeepResiduals true if residuals must be computed and kept,
      *                                false if residuals only need to be computed but not kept.
      * @throws LockedException if calibrator is currently running.
      */
     public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
         if (running) {
             throw new LockedException();
         }
         this.computeAndKeepResiduals = computeAndKeepResiduals;
     }
 
     /**
      * Estimates gyroscope calibration parameters containing scale factors,
      * cross-coupling errors and G-dependent coupling.
      *
      * @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 PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<PreliminaryResult>() {
             @Override
             public double[] getQualityScores() {
                 return qualityScores;
             }
 
             @Override
             public double getThreshold() {
                 return threshold;
             }
 
             @Override
             public int getTotalSamples() {
                 return sequences.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(sequences.get(i), currentEstimation);
             }
 
             @Override
             public boolean isReady() {
                 return PROSACRobustKnownBiasEasyGyroscopeCalibrator.this.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(
                             PROSACRobustKnownBiasEasyGyroscopeCalibrator.this, iteration);
                 }
             }
 
             @Override
             public void onEstimateProgressChange(
                     final RobustEstimator<PreliminaryResult> estimator, final float progress) {
                 if (listener != null) {
                     listener.onCalibrateProgressChange(
                             PROSACRobustKnownBiasEasyGyroscopeCalibrator.this, progress);
                 }
             }
         });
 
         try {
             running = true;
 
             if (listener != null) {
                 listener.onCalibrateStart(this);
             }
 
             setupAccelerationFixer();
 
             inliersData = null;
             innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
             innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
             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 | AlgebraException 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.PROSAC;
     }
 
     /**
      * 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 true;
     }
 
     /**
      * Sets quality scores corresponding to each provided sample.
      * This method is used internally and does not check whether instance is
      * locked or not.
      *
      * @param qualityScores quality scores to be set.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 4 samples.
      */
     private void internalSetQualityScores(final double[] qualityScores) {
         if (qualityScores == null || qualityScores.length < EasyGyroscopeCalibrator.MINIMUM_SEQUENCES_COMMON_Z_AXIS) {
             throw new IllegalArgumentException();
         }
 
         this.qualityScores = qualityScores;
     }
 }