1 /*
2 * Copyright (C) 2021 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.navigation.inertial.calibration.magnetometer;
17
18 import com.irurueta.navigation.LockedException;
19 import com.irurueta.navigation.inertial.calibration.StandardDeviationBodyMagneticFluxDensity;
20
21 import java.util.Collection;
22
23 /**
24 * Defines a magnetometer calibrator using unordered collections of
25 * {@link StandardDeviationBodyMagneticFluxDensity} measurements.
26 */
27 public interface UnorderedStandardDeviationBodyMagneticFluxDensityMagnetometerCalibrator extends
28 MagnetometerCalibrator {
29
30 /**
31 * Gets collection of body magnetic flux density measurements taken
32 * at a given position with different unknown orientations and containing the
33 * standard deviation of magnetometer measurements.
34 *
35 * @return collection of body magnetic flux density measurements at
36 * a known position and timestamp with unknown orientations.
37 */
38 Collection<StandardDeviationBodyMagneticFluxDensity> getMeasurements();
39
40 /**
41 * Sets collection of body magnetic flux density measurements taken
42 * at a given position with different unknown orientations and containing the
43 * standard deviation of magnetometer measurements.
44 *
45 * @param measurements collection of body magnetic flux density
46 * measurements at a known position and timestamp
47 * with unknown orientations.
48 * @throws LockedException if calibrator is currently running.
49 */
50 void setMeasurements(
51 final Collection<StandardDeviationBodyMagneticFluxDensity> measurements) throws LockedException;
52
53 }