Package com.irurueta.geometry

Class Accuracy3D

java.lang.Object

com.irurueta.geometry.Accuracy

com.irurueta.geometry.Accuracy3D

All Implemented Interfaces:

Serializable

public class Accuracy3D
extends Accuracy

Contains methods to convert covariance matrices into ellipsoids representing accuracy with requested confidence.

See Also:

• Serialized Form

Field Summary

Fields inherited from class com.irurueta.geometry.Accuracy

confidence, sqrtSingularValues, standardDeviationFactor, u

Constructor Summary

Constructors

Constructor	Description
Accuracy3D()	Constructor.
Accuracy3D(double confidence)	Constructor.
Accuracy3D(com.irurueta.algebra.Matrix covarianceMatrix)	Constructor.
Accuracy3D(com.irurueta.algebra.Matrix covarianceMatrix, double confidence)	Constructor.

Method Summary

Modifier and Type	Method	Description
Accuracy2D	flattenTo2D()	Flattens accuracy representation to 2D by taking into account only x and y coordinates and ignoring variance related to z coordinates.
int	getNumberOfDimensions()	Gets number of dimensions.
Ellipse	intersectWithPlane()	Intersects ellipsoid representing this accuracy with horizontal xy plane.
private Ellipse	intersectWithPlane(double standardDeviationFactor)	Intersects ellipsoid representing this accuracy with provided standard deviation factor and with horizontal xy plane.
Ellipsoid	toEllipsoid()	Converts provided covariance matrix into a 3D ellipsoid taking into account current confidence and standard deviation factor.
private Ellipsoid	toEllipsoid(double standardDeviationFactor)	Converts provided covariance matrix into a 3D ellipsoid taking into account current confidence and standard deviation factor.

Methods inherited from class com.irurueta.geometry.Accuracy

getAverageAccuracy, getConfidence, getCovarianceMatrix, getLargestAccuracy, getSmallestAccuracy, getStandardDeviationFactor, setConfidence, setCovarianceMatrix, setStandardDeviationFactor

Methods inherited from class java.lang.Object

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

Constructor Details

Accuracy3D

public Accuracy3D()

Constructor.

Accuracy3D

public Accuracy3D(com.irurueta.algebra.Matrix covarianceMatrix)
           throws com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Constructor.

Parameters:

covarianceMatrix - covariance matrix to be set. Must be 3x3 and positive definite.

Throws:

IllegalArgumentException - if provided matrix is not square (it must also be positive definite to be properly converted to an ellipsoid).

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException - if provided matrix is not symmetric and positive definite.

Accuracy3D

public Accuracy3D(double confidence)

Constructor.

Parameters:

confidence - confidence of provided accuracy of an estimated position.

Throws:

IllegalArgumentException - if provided value is not within 0 and 1.

Accuracy3D

public Accuracy3D(com.irurueta.algebra.Matrix covarianceMatrix,
 double confidence)
           throws com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Constructor.

Parameters:

covarianceMatrix - covariance matrix to be set. Must be 3x3 and positive definite.

confidence - confidence of provided accuracy of an estimated position.

Throws:

IllegalArgumentException - if provided matrix is not square (it must also be positive definite to be properly converted to an ellipsoid), or if provided confidence value is not within 0 and 1.

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException - if provided matrix is not symmetric and positive definite.

Method Details

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions.

Specified by:

getNumberOfDimensions in class Accuracy

Returns:

always returns 3.

toEllipsoid

public Ellipsoid toEllipsoid()
                      throws InvalidRotationMatrixException

Converts provided covariance matrix into a 3D ellipsoid taking into account current confidence and standard deviation factor.

Returns:

ellipsoid representing accuracy of covariance matrix with current confidence and standard deviation factor.

Throws:

NullPointerException - if covariance matrix has not been provided yet.

InvalidRotationMatrixException - if rotation cannot be properly determined.

flattenTo2D

public Accuracy2D flattenTo2D()
                       throws GeometryException

Flattens accuracy representation to 2D by taking into account only x and y coordinates and ignoring variance related to z coordinates.

Returns:

flattened accuracy representation in 2D.

Throws:

NullPointerException - if covariance matrix is not defined.

GeometryException - if intersection cannot be computed.

intersectWithPlane

public Ellipse intersectWithPlane()
                           throws GeometryException

Intersects ellipsoid representing this accuracy with horizontal xy plane.

Returns:

intersected ellipse.

Throws:

NullPointerException - if covariance matrix is not defined.

GeometryException - if intersection cannot be computed.

toEllipsoid

private Ellipsoid toEllipsoid(double standardDeviationFactor)
                       throws InvalidRotationMatrixException

Converts provided covariance matrix into a 3D ellipsoid taking into account current confidence and standard deviation factor.

Parameters:

standardDeviationFactor - standard deviation factor.

Returns:

ellipsoid representing accuracy of covariance matrix with provided standard deviation factor.

Throws:

NullPointerException - if covariance matrix has not been provided yet.

InvalidRotationMatrixException - if rotation cannot be properly determined.

intersectWithPlane

private Ellipse intersectWithPlane(double standardDeviationFactor)
                            throws GeometryException

Intersects ellipsoid representing this accuracy with provided standard deviation factor and with horizontal xy plane.

Parameters:

standardDeviationFactor - standard deviation factor.

Returns:

intersected ellipse.

Throws:

NullPointerException - if covariance matrix is not defined.

GeometryException - if intersection cannot be computed.