no.kartverket.positionorientation

Class Transform.OrientationObservation

java.lang.Object

no.kartverket.positionorientation.Transform.OrientationObservation

All Implemented Interfaces:

Transform.Observation

Enclosing class:

Transform

public class Transform.OrientationObservation
extends java.lang.Object
implements Transform.Observation

Orientation obeservation, typically from a compass

Field Summary

Fields

Modifier and Type	Field and Description
(package private) float	orient observed difference in orientation between tango and world north axis
(package private) float	orient_sd a priori standard deviation of orientation
(package private) float	orient_v a posteriori estimated residual of orientation
(package private) float	orient_v_sd a posteriori estimated standard deviation of orientation residual

Constructor Summary

Constructors

Constructor and Description
OrientationObservation()

Method Summary

Modifier and Type	Method and Description
void	addToNormalEquations(Transform.Parameters p, float weight) Add data for this observation to the normal equation system
float	computeResiduals(Transform.Parameters p) Compute maximum normalized residual for this observation
int	numConditions() Return number of condition equations for this observation

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

orient

float orient

observed difference in orientation between tango and world north axis

orient_sd

float orient_sd

a priori standard deviation of orientation

orient_v

float orient_v

a posteriori estimated residual of orientation

orient_v_sd

float orient_v_sd

a posteriori estimated standard deviation of orientation residual

Constructor Detail

OrientationObservation

public OrientationObservation()

Method Detail

addToNormalEquations

public void addToNormalEquations(Transform.Parameters p,
                                 float weight)

Description copied from interface: Transform.Observation

Add data for this observation to the normal equation system

Specified by:

addToNormalEquations in interface Transform.Observation

Parameters:

p - The current model parameters

weight - The current observation weight

computeResiduals

public float computeResiduals(Transform.Parameters p)

Description copied from interface: Transform.Observation

Compute maximum normalized residual for this observation

Specified by:

computeResiduals in interface Transform.Observation

Parameters:

p - The current model parameters

Returns:

the normalized residual

numConditions

public int numConditions()

Description copied from interface: Transform.Observation

Return number of condition equations for this observation

Specified by:

numConditions in interface Transform.Observation

Returns:

number of conditions