com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.DefaultAccelerometerGyroscopeAndMagnetometerMseRule Maven / Gradle / Ivy
The newest version!
/*
* Copyright (C) 2021 Alberto Irurueta Carro ([email protected])
*
* 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.intervals.thresholdfactor;
/**
* Provides a rule or function to convert estimated accelerometer calibration
* Mean Square Error (MSE), estimated gyroscope calibration Mean Square Error
* (MSE) and estimated magnetometer calibrator Mean Square Error (MSE) into a
* single MSE value.
* This implementation simply sums all three MSE values.
*/
public class DefaultAccelerometerGyroscopeAndMagnetometerMseRule implements
AccelerometerGyroscopeAndMagnetometerMseRule {
/**
* Evaluates provided accelerometer calibration MSE, gyroscope calibration
* MSE and magnetometer calibration MSE in order to obtain a single MSE
* value representing all three of them.
*
* @param accelerometerMse accelerometer calibration MSE.
* @param gyroscopeMse gyroscope calibration MSE.
* @param magnetometerMse magnetometer calibration MSE.
* @return single MSE value.
*/
@Override
public double evaluate(double accelerometerMse, double gyroscopeMse,
double magnetometerMse) {
return accelerometerMse + gyroscopeMse + magnetometerMse;
}
}