1 /*
2 * Copyright (C) 2020 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.magnetometer;
17
18 import com.irurueta.navigation.LockedException;
19 import com.irurueta.navigation.inertial.calibration.FrameBodyMagneticFluxDensity;
20
21 import java.util.Collection;
22
23 /**
24 * Interface defining magnetometer calibrators to estimate hard-iron biases,
25 * cross coupling and scaling factors.
26 *
27 * @param <T> a {@link FrameBodyMagneticFluxDensity} containing measures used
28 * by the calibrator.
29 * @param <L> a listener type.
30 */
31 public interface KnownFrameMagnetometerCalibrator<T extends FrameBodyMagneticFluxDensity,
32 L extends KnownFrameMagnetometerCalibratorListener<?>> extends UnknownHardIronMagnetometerCalibrator,
33 MagnetometerCalibrator {
34
35 /**
36 * Gets a collection of body magnetic flux density measurements taken at different
37 * frames (positions, orientations and velocities).
38 * If a single device IMU needs to be calibrated, typically all measurements are
39 * taken at the same position, with zero velocity and multiple orientations.
40 * However, if we just want to calibrate a given IMU model (e.g. obtain
41 * an average and less precise calibration for the IMU of a given phone model),
42 * we could take measurements collected throughout the planet at multiple positions
43 * while the phone remains static (e.g. while charging), hence each measurement
44 * position will change, velocity will remain zero and orientation will be
45 * typically constant at horizontal orientation while the phone remains on a
46 * flat surface.
47 *
48 * @return a collection of body magnetic flux density measurements taken at different
49 * frames (positions, orientations and velocities).
50 */
51 Collection<T> getMeasurements();
52
53 /**
54 * Sets a collection of body magnetic flux density measurements taken at different
55 * frames (positions, orientations and velocities).
56 * If a single device IMU needs to be calibrated, typically all measurements are
57 * taken at the same position, with zero velocity and multiple orientations.
58 * However, if we just want to calibrate the a given IMU model (e.g. obtain
59 * an average and less precise calibration for the IMU of a given phone model),
60 * we could take measurements collected throughout the planet at multiple positions
61 * while the phone remains static (e.g. while charging), hence each measurement
62 * position will change, velocity will remain zero and orientation will be
63 * typically constant at horizontal orientation while the phone remains on a
64 * flat surface.
65 *
66 * @param measurements collection of body magnetic flux density measurements
67 * taken at different frames (positions, orientations
68 * and velocities).
69 * @throws LockedException if estimator is currently running.
70 */
71 void setMeasurements(final Collection<? extends T> measurements) throws LockedException;
72
73 /**
74 * Gets listener to handle events raised by this calibrator.
75 *
76 * @return listener to handle events raised by this calibrator.
77 */
78 L getListener();
79
80 /**
81 * Sets listener to handle events raised by this calibrator.
82 *
83 * @param listener listener to handle events raised by this calibrator.
84 * @throws LockedException if estimator is currently running.
85 */
86 void setListener(final L listener) throws LockedException;
87 }