PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator

/*
 * Copyright (C) 2022 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.magnetometer;

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.StandardDeviationBodyMagneticFluxDensity;
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 magnetometer hard-iron biases, cross couplings and
 * scaling factors using PROSAC algorithm.
 * <p>
 * To use this calibrator at least 10 measurements with known magnetic field norm at
 * an unknown position and instant must be taken at 10 different unknown orientations
 * when common z-axis is assumed, otherwise at least 13
 * measurements are required.
 * <p>
 * Measured magnetic flux density is assumed to follow the model shown below:
 * <pre>
 *     mBmeas = bm + (I + Mm) * mBtrue + w
 * </pre>
 * Where:
 * - mBmeas is the measured magnetic flux density. This is a 3x1 vector.
 * - bm is magnetometer hard-iron bias. Ideally, on a perfect magnetometer,
 * this should be a 3x1 zero vector.
 * - I is the 3x3 identity matrix.
 * - Mm is the 3x3 soft-iron matrix containing cross-couplings and scaling
 * factors. Ideally, on a perfect magnetometer, this should be a 3x3 zero
 * matrix.
 * - mBtrue is ground-truth magnetic flux density. This is a 3x1 vector.
 * - w is measurement noise. This is a 3x1 vector.
 * Notice that this calibrator assumes that all measurements are taken in
 * a short span of time, where Earth magnetic field can be assumed to be
 * constant at provided location and instant.
 */
public class PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator extends
        RobustKnownMagneticFluxDensityNormMagnetometerCalibrator {

    /**
     * Constant defining default threshold to determine whether samples are inliers or not.
     */
    public static final double DEFAULT_THRESHOLD = 1e-9;

    /**
     * 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 on distance between estimated position and
     * distances provided for each sample.
     */
    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 PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator() {
        super();
    }

    /**
     * Constructor.
     *
     * @param listener listener to handle events raised by this calibrator.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(listener);
    }

    /**
     * Constructor.
     *
     * @param measurements list of body magnetic flux density
     *                     measurements with standard deviation of
     *                     magnetometer measurements taken at the same
     *                     position with zero velocity and unknown different
     *                     orientations.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
        super(measurements);
    }

    /**
     * Constructor.
     *
     * @param commonAxisUsed indicates whether z-axis is assumed to be common
     *                       for the accelerometer, gyroscope and magnetometer.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(final boolean commonAxisUsed) {
        super(commonAxisUsed);
    }

    /**
     * Constructor.
     *
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron array does
     *                                  not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(final double[] initialHardIron) {
        super(initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(final Matrix initialHardIron) {
        super(initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param initialHardIron initial hard-iron to find a solution.
     * @param initialMm       initial soft-iron matrix containing scale factors
     *                        and cross coupling errors.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1 or if soft-iron matrix is not
     *                                  3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Matrix initialHardIron, final Matrix initialMm) {
        super(initialHardIron, initialMm);
    }

    /**
     * Constructor.
     *
     * @param measurements list of body magnetic flux density
     *                     measurements with standard deviation of
     *                     magnetometer measurements taken at the same
     *                     position with zero velocity and unknown different
     *                     orientations.
     * @param listener     listener to handle events raised by this calibrator.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, listener);
    }

    /**
     * Constructor.
     *
     * @param measurements   collection of body magnetic flux density
     *                       measurements with standard deviation of
     *                       magnetometer measurements taken at the same
     *                       position with zero velocity and unknown different
     *                       orientations.
     * @param commonAxisUsed indicates whether z-axis is assumed to be common
     *                       for the accelerometer, gyroscope and magnetometer.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed) {
        super(measurements, commonAxisUsed);
    }

    /**
     * Constructor.
     *
     * @param measurements   collection of body magnetic flux density
     *                       measurements with standard deviation of
     *                       magnetometer measurements taken at the same
     *                       position with zero velocity and unknown different
     *                       orientations.
     * @param commonAxisUsed indicates whether z-axis is assumed to be common
     *                       for the accelerometer, gyroscope and magnetometer.
     * @param listener       listener to handle events raised by this calibrator.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, listener);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron array does
     *                                  not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron) {
        super(measurements, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param listener        listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided hard-iron array does
     *                                  not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param commonAxisUsed  indicates whether z-axis is assumed to be common
     *                        for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron array does
     *                                  not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final double[] initialHardIron) {
        super(measurements, commonAxisUsed, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param commonAxisUsed  indicates whether z-axis is assumed to be common
     *                        for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param listener        listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided hard-iron array does
     *                                  not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final double[] initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron) {
        super(measurements, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param listener        listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param commonAxisUsed  indicates whether z-axis is assumed to be common
     *                        for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron) {
        super(measurements, commonAxisUsed, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param commonAxisUsed  indicates whether z-axis is assumed to be common
     *                        for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param listener        listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param initialMm       initial soft-iron matrix containing scale factors
     *                        and cross coupling errors.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1 or if soft-iron matrix is not
     *                                  3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
            final Matrix initialMm) {
        super(measurements, initialHardIron, initialMm);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param initialMm       initial soft-iron matrix containing scale factors
     *                        and cross coupling errors.
     * @param listener        listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1 or if soft-iron matrix is not
     *                                  3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
            final Matrix initialMm, final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, initialHardIron, initialMm, listener);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param commonAxisUsed  indicates whether z-axis is assumed to be common
     *                        for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param initialMm       initial soft-iron matrix containing scale factors
     *                        and cross coupling errors.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1 or if soft-iron matrix is not
     *                                  3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron, final Matrix initialMm) {
        super(measurements, commonAxisUsed, initialHardIron, initialMm);
    }

    /**
     * Constructor.
     *
     * @param measurements    collection of body magnetic flux density
     *                        measurements with standard deviation of
     *                        magnetometer measurements taken at the same
     *                        position with zero velocity and unknown different
     *                        orientations.
     * @param commonAxisUsed  indicates whether z-axis is assumed to be common
     *                        for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param initialMm       initial soft-iron matrix containing scale factors
     *                        and cross coupling errors.
     * @param listener        listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1 or if soft-iron matrix is not
     *                                  3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron, final Matrix initialMm,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(measurements, commonAxisUsed, initialHardIron, initialMm, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm) {
        super(groundTruthMagneticFluxDensityNorm);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
        super(groundTruthMagneticFluxDensityNorm, measurements);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm, final boolean commonAxisUsed) {
        super(groundTruthMagneticFluxDensityNorm, commonAxisUsed);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided magnetic flux norm value is
     *                                  negative, or if provided hard-iron array does
     *                                  not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm, final double[] initialHardIron) {
        super(groundTruthMagneticFluxDensityNorm, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided magnetic flux norm value is
     *                                  negative, or if provided hard-iron matrix is not
     *                                  3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm, final Matrix initialHardIron) {
        super(groundTruthMagneticFluxDensityNorm, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param initialMm                          initial soft-iron matrix containing scale factors
     *                                           and cross coupling errors.
     * @throws IllegalArgumentException if provided magnetic flux norm value is
     *                                  negative, or if provided hard-iron matrix is not
     *                                  3x1 or if soft-iron matrix is not
     *                                  3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm, final Matrix initialHardIron, final Matrix initialMm) {
        super(groundTruthMagneticFluxDensityNorm, initialHardIron, initialMm);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron array does not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron) {
        super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron array does not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron array does not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final double[] initialHardIron) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron array does not have length 3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final double[] initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron) {
        super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param initialMm                          initial soft-iron matrix containing scale factors
     *                                           and cross coupling errors.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1 or if
     *                                  soft-iron matrix is not 3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
            final Matrix initialMm) {
        super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, initialMm);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param initialMm                          initial soft-iron matrix containing scale factors
     *                                           and cross coupling errors.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1 or if
     *                                  soft-iron matrix is not 3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
            final Matrix initialMm, final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, initialMm, listener);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param initialMm                          initial soft-iron matrix containing scale factors
     *                                           and cross coupling errors.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1
     *                                  or if soft-iron matrix is not 3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron, final Matrix initialMm) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, initialMm);
    }

    /**
     * Constructor.
     *
     * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
     * @param measurements                       collection of body magnetic flux density
     *                                           measurements with standard deviation of
     *                                           magnetometer measurements taken at the same
     *                                           position with zero velocity and unknown different
     *                                           orientations.
     * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
     *                                           for the accelerometer, gyroscope and magnetometer.
     * @param initialHardIron                    initial hard-iron to find a solution.
     * @param initialMm                          initial soft-iron matrix containing scale factors
     *                                           and cross coupling errors.
     * @param listener                           listener to handle events raised by this calibrator.
     * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
     *                                  or if provided hard-iron matrix is not 3x1
     *                                  or if soft-iron matrix is not 3x3.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final Double groundTruthMagneticFluxDensityNorm,
            final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
            final Matrix initialHardIron, final Matrix initialMm,
            final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
        super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, initialMm, listener);
    }

    /**
     * Constructor.
     *
     * @param qualityScores quality scores corresponding to each provided
     *                      measurement. The larger the score value the better
     *                      the quality of the sample.
     * @param measurements  list of body magnetic flux density
     *                      measurements with standard deviation of
     *                      magnetometer measurements taken at the same
     *                      position with zero velocity and unknown different
     *                      orientations.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than 10 samples.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
        super(measurements);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Constructor.
     *
     * @param qualityScores  quality scores corresponding to each provided
     *                       measurement. The larger the score value the better
     *                       the quality of the sample.
     * @param commonAxisUsed indicates whether z-axis is assumed to be common
     *                       for the accelerometer, gyroscope and magnetometer.
     * @throws IllegalArgumentException if provided quality scores length
     *                                  is smaller than 10 samples.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final double[] qualityScores, final boolean commonAxisUsed) {
        super(commonAxisUsed);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Constructor.
     *
     * @param qualityScores   quality scores corresponding to each provided
     *                        measurement. The larger the score value the better
     *                        the quality of the sample.
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron array does
     *                                  not have length 3 or if provided
     *                                  quality scores length is smaller
     *                                  than 10 samples.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final double[] qualityScores, final double[] initialHardIron) {
        super(initialHardIron);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Constructor.
     *
     * @param qualityScores   quality scores corresponding to each provided
     *                        measurement. The larger the score value the better
     *                        the quality of the sample.
     * @param initialHardIron initial hard-iron to find a solution.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1 or if provided quality scores
     *                                  length is smaller than 10 samples.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final double[] qualityScores, final Matrix initialHardIron) {
        super(initialHardIron);
        internalSetQualityScores(qualityScores);
    }

    /**
     * Constructor.
     *
     * @param qualityScores   quality scores corresponding to each provided
     *                        measurement. The larger the score value the better
     *                        the quality of the sample.
     * @param initialHardIron initial hard-iron to find a solution.
     * @param initialMm       initial soft-iron matrix containing scale factors
     *                        and cross coupling errors.
     * @throws IllegalArgumentException if provided hard-iron matrix is not
     *                                  3x1 or if soft-iron matrix is not
     *                                  3x3 or if provided quality scores
     *                                  length is smaller than 10 samples.
     */
    public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
            final double[] qualityScores, final Matrix initialHardIron, final Matrix initialMm) {
        super(initialHardIron, initialMm);
        internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided
      *                      measurement. The larger the score value the better
      *                      the quality of the sample.
      * @param measurements  list of body magnetic flux density
      *                      measurements with standard deviation of
      *                      magnetometer measurements taken at the same
      *                      position with zero velocity and unknown different
      *                      orientations.
      * @param listener      listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores  quality scores corresponding to each provided
      *                       measurement. The larger the score value the better
      *                       the quality of the sample.
      * @param measurements   collection of body magnetic flux density
      *                       measurements with standard deviation of
      *                       magnetometer measurements taken at the same
      *                       position with zero velocity and unknown different
      *                       orientations.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed) {
         super(measurements, commonAxisUsed);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores  quality scores corresponding to each provided
      *                       measurement. The larger the score value the better
      *                       the quality of the sample.
      * @param measurements   collection of body magnetic flux density
      *                       measurements with standard deviation of
      *                       magnetometer measurements taken at the same
      *                       position with zero velocity and unknown different
      *                       orientations.
      * @param commonAxisUsed indicates whether z-axis is assumed to be common
      *                       for the accelerometer, gyroscope and magnetometer.
      * @param listener       listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param initialHardIron initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3 or if provided quality
      *                                  scores length is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final double[] initialHardIron) {
         super(measurements, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param listener        listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3 or if provided quality
      *                                  scores length is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final double[] initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param commonAxisUsed  indicates whether z-axis is assumed to be common
      *                        for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3 or if provided quality
      *                                  scores length is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final double[] initialHardIron) {
         super(measurements, commonAxisUsed, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param commonAxisUsed  indicates whether z-axis is assumed to be common
      *                        for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param listener        listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron array does
      *                                  not have length 3 or if provided quality
      *                                  scores length is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final double[] initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param initialHardIron initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix initialHardIron) {
         super(measurements, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param listener        listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param commonAxisUsed  indicates whether z-axis is assumed to be common
      *                        for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix initialHardIron) {
         super(measurements, commonAxisUsed, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param commonAxisUsed  indicates whether z-axis is assumed to be common
      *                        for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param listener        listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.*
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param initialMm       initial soft-iron matrix containing scale factors
      *                        and cross coupling errors.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if soft-iron matrix is not
      *                                  3x3 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix initialHardIron, final Matrix initialMm) {
         super(measurements, initialHardIron, initialMm);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param initialMm       initial soft-iron matrix containing scale factors
      *                        and cross coupling errors.
      * @param listener        listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if soft-iron matrix is not
      *                                  3x3 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final Matrix initialHardIron, final Matrix initialMm,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, initialHardIron, initialMm, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param commonAxisUsed  indicates whether z-axis is assumed to be common
      *                        for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param initialMm       initial soft-iron matrix containing scale factors
      *                        and cross coupling errors.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if soft-iron matrix is not
      *                                  3x3 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix initialHardIron, final Matrix initialMm) {
         super(measurements, commonAxisUsed, initialHardIron, initialMm);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided
      *                        measurement. The larger the score value the better
      *                        the quality of the sample.
      * @param measurements    collection of body magnetic flux density
      *                        measurements with standard deviation of
      *                        magnetometer measurements taken at the same
      *                        position with zero velocity and unknown different
      *                        orientations.
      * @param commonAxisUsed  indicates whether z-axis is assumed to be common
      *                        for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron initial hard-iron to find a solution.
      * @param initialMm       initial soft-iron matrix containing scale factors
      *                        and cross coupling errors.
      * @param listener        listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided hard-iron matrix is not
      *                                  3x1 or if soft-iron matrix is not
      *                                  3x3 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final boolean commonAxisUsed, final Matrix initialHardIron, final Matrix initialMm,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(measurements, commonAxisUsed, initialHardIron, initialMm, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm) {
         super(groundTruthMagneticFluxDensityNorm);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements) {
         super(groundTruthMagneticFluxDensityNorm, measurements);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final boolean commonAxisUsed) {
         super(groundTruthMagneticFluxDensityNorm, commonAxisUsed);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided magnetic flux norm value is
      *                                  negative, or if provided hard-iron array does
      *                                  not have length 3, or if provided quality scores
      *                                  length is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final double[] initialHardIron) {
         super(groundTruthMagneticFluxDensityNorm, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided magnetic flux norm value is
      *                                  negative, or if provided hard-iron matrix is not
      *                                  3x1, or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final Matrix initialHardIron) {
         super(groundTruthMagneticFluxDensityNorm, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param initialMm                          initial soft-iron matrix containing scale factors
      *                                           and cross coupling errors.
      * @throws IllegalArgumentException if provided magnetic flux norm value is
      *                                  negative, or if provided hard-iron matrix is not
      *                                  3x1 or if soft-iron matrix is not
      *                                  3x3 or if provided quality scores length
      *                                  is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm, final Matrix initialHardIron,
             final Matrix initialMm) {
         super(groundTruthMagneticFluxDensityNorm, initialHardIron, initialMm);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative
      *                                  or if provided quality scores length is
      *                                  smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron array does not have length 3,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron) {
         super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron array does not have length 3,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final double[] initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron array does not have length 3,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
             final double[] initialHardIron) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron array does not have length 3,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
             final double[] initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron) {
         super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
             final Matrix initialHardIron) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1,
      *                                  or if provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
             final Matrix initialHardIron,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param initialMm                          initial soft-iron matrix containing scale factors
      *                                           and cross coupling errors.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1 or if
      *                                  soft-iron matrix is not 3x3, or if provided
      *                                  quality scores length is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
             final Matrix initialMm) {
         super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, initialMm);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param initialMm                          initial soft-iron matrix containing scale factors
      *                                           and cross coupling errors.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1 or if
      *                                  soft-iron matrix is not 3x3, or if provided
      *                                  quality scores length is smaller than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final Matrix initialHardIron,
             final Matrix initialMm, final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, initialHardIron, initialMm, listener);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param initialMm                          initial soft-iron matrix containing scale factors
      *                                           and cross coupling errors.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1
      *                                  or if soft-iron matrix is not 3x3, or if
      *                                  provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
             final Matrix initialHardIron, final Matrix initialMm) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, initialMm);
         internalSetQualityScores(qualityScores);
     }

     /**
      * Constructor.
      *
      * @param qualityScores                      quality scores corresponding to each provided
      *                                           measurement. The larger the score value the better
      *                                           the quality of the sample.
      * @param groundTruthMagneticFluxDensityNorm ground truth magnetic flux density norm expressed in Teslas (T).
      * @param measurements                       collection of body magnetic flux density
      *                                           measurements with standard deviation of
      *                                           magnetometer measurements taken at the same
      *                                           position with zero velocity and unknown different
      *                                           orientations.
      * @param commonAxisUsed                     indicates whether z-axis is assumed to be common
      *                                           for the accelerometer, gyroscope and magnetometer.
      * @param initialHardIron                    initial hard-iron to find a solution.
      * @param initialMm                          initial soft-iron matrix containing scale factors
      *                                           and cross coupling errors.
      * @param listener                           listener to handle events raised by this calibrator.
      * @throws IllegalArgumentException if provided magnetic flux norm value is negative,
      *                                  or if provided hard-iron matrix is not 3x1
      *                                  or if soft-iron matrix is not 3x3, or if
      *                                  provided quality scores length is smaller
      *                                  than 10 samples.
      */
     public PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator(
             final double[] qualityScores, final Double groundTruthMagneticFluxDensityNorm,
             final List<StandardDeviationBodyMagneticFluxDensity> measurements, final boolean commonAxisUsed,
             final Matrix initialHardIron, final Matrix initialMm,
             final RobustKnownMagneticFluxDensityNormMagnetometerCalibratorListener listener) {
         super(groundTruthMagneticFluxDensityNorm, measurements, commonAxisUsed, initialHardIron, initialMm, 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 sample.
      * The larger the score value the better the quality of the sample.
      *
      * @return quality scores corresponding to each sample.
      */
     @Override
     public double[] getQualityScores() {
         return qualityScores;
     }

     /**
      * Sets quality scores corresponding to each provided sample.
      * The larger the score value the better the quality of the sample.
      *
      * @param qualityScores quality scores corresponding to each sample.
      * @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 == measurements.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 magnetometer calibration parameters containing hard-iron
      * bias and soft-iron scale factors and cross-coupling errors.
      *
      * @throws LockedException      if calibrator is currently running.
      * @throws NotReadyException    if calibrator is not ready.
      * @throws CalibrationException if estimation fails for numerical reasons.
      */
     @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 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 PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator.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(
                             PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator.this, iteration);
                 }
             }

             @Override
             public void onEstimateProgressChange(
                     final RobustEstimator<PreliminaryResult> estimator, final float progress) {
                 if (listener != null) {
                     listener.onCalibrateProgressChange(
                             PROSACRobustKnownMagneticFluxDensityNormMagnetometerCalibrator.this, progress);
                 }
             }
         });

         try {
             running = true;

             if (listener != null) {
                 listener.onCalibrateStart(this);
             }

             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 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 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 < MINIMUM_MEASUREMENTS_COMMON_Z_AXIS) {
             throw new IllegalArgumentException();
         }

         this.qualityScores = qualityScores;
     }

 }