Package com.irurueta.navigation.indoor.fingerprint

Class NonLinearFingerprintPositionEstimator3D

java.lang.Object

com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionEstimator<com.irurueta.geometry.Point3D,FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D>>

com.irurueta.navigation.indoor.fingerprint.FingerprintPositionEstimator<com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.fingerprint.NonLinearFingerprintPositionEstimator<com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.fingerprint.NonLinearFingerprintPositionEstimator3D

Direct Known Subclasses:

FirstOrderNonLinearFingerprintPositionEstimator3D, SecondOrderNonLinearFingerprintPositionEstimator3D, ThirdOrderNonLinearFingerprintPositionEstimator3D

public abstract class NonLinearFingerprintPositionEstimator3D
extends NonLinearFingerprintPositionEstimator<com.irurueta.geometry.Point3D>

3D position estimator based on located fingerprints containing only RSSI readings and having as well prior knowledge of the location of radio sources associated to those readings. This is a base implementation for all implementations using different orders of Taylor approximation to estimate position.

Field Summary

Fields inherited from class com.irurueta.navigation.indoor.fingerprint.NonLinearFingerprintPositionEstimator

DEFAULT_PROPAGATE_FINGERPRINT_POSITION_COVARIANCE, DEFAULT_PROPAGATE_FINGERPRINT_RSSI_STANDARD_DEVIATION, DEFAULT_PROPAGATE_PATHLOSS_EXPONENT_STANDARD_DEVIATION, DEFAULT_PROPAGATE_RADIO_SOURCE_POSITION_COVARIANCE, DEFAULT_TYPE, FALLBACK_RSSI_STANDARD_DEVIATION, TINY_RSSI_STD

Fields inherited from class com.irurueta.navigation.indoor.fingerprint.FingerprintPositionEstimator

removeMeansFromFingerprintReadings, sources, useNoMeanNearestFingerprintFinder, useSourcesPathLossExponentWhenAvailable

Fields inherited from class com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionEstimator

DEFAULT_MAX_NEAREST_FINGERPRINTS, DEFAULT_MIN_NEAREST_FINGERPRINTS, DEFAULT_PATH_LOSS_EXPONENT, estimatedPositionCoordinates, fingerprint, listener, locatedFingerprints, locked, maxNearestFingerprints, minNearestFingerprints, nearestFingerprints, pathLossExponent

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	NonLinearFingerprintPositionEstimator3D()	Constructor.
protected	NonLinearFingerprintPositionEstimator3D(FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
protected	NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
protected	NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition)	Constructor.
protected	NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition, FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
protected	NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
static NonLinearFingerprintPositionEstimator3D	create()	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, NonLinearFingerprintPositionEstimatorType type)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(NonLinearFingerprintPositionEstimatorType type)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition, FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition, FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, NonLinearFingerprintPositionEstimatorType type)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.geometry.Point3D initialPosition, NonLinearFingerprintPositionEstimatorType type)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, NonLinearFingerprintPositionEstimatorType type)	Creates an instance of a non-linear 3D position estimator using provided type.
static NonLinearFingerprintPositionEstimator3D	create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints, RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, NonLinearFingerprintPositionEstimatorType type)	Creates an instance of a non-linear 3D position estimator using provided type.
com.irurueta.geometry.Point3D	getEstimatedPosition()	Gets estimated position or null if not available yet.
int	getNumberOfDimensions()	Gets number of dimensions of points.

Methods inherited from class com.irurueta.navigation.indoor.fingerprint.NonLinearFingerprintPositionEstimator

estimate, evaluate, getChiSq, getCovariance, getFallbackRssiStandardDeviation, getInitialPosition, getType, isFingerprintPositionCovariancePropagated, isFingerprintRssiStandardDeviationPropagated, isPathlossExponentStandardDeviationPropagated, isRadioSourcePositionCovariancePropagated, propagateVariances, setFallbackRssiStandardDeviation, setFingerprintPositionCovariancePropagated, setFingerprintRssiStandardDeviationPropagated, setInitialPosition, setPathlossExponentStandardDeviationPropagated, setRadioSourcePositionCovariancePropagated

Methods inherited from class com.irurueta.navigation.indoor.fingerprint.FingerprintPositionEstimator

getSources, getUseNoMeanNearestFingerprintFinder, getUseSourcesPathLossExponentWhenAvailable, isMeansFromFingerprintReadingsRemoved, isReady, setMeansFromFingerprintReadingsRemoved, setSources, setUseNoMeanNearestFingerprintFinder, setUseSourcesPathLossExponentWhenAvailable

Methods inherited from class com.irurueta.navigation.indoor.fingerprint.BaseFingerprintPositionEstimator

getEstimatedPosition, getEstimatedPositionCoordinates, getFingerprint, getListener, getLocatedFingerprints, getMaxNearestFingerprints, getMinNearestFingerprints, getNearestFingerprints, getPathLossExponent, isLocked, setFingerprint, setListener, setLocatedFingerprints, setMinMaxNearestFingerprints, setPathLossExponent, totalReadings

Methods inherited from class java.lang.Object

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

Constructor Details

NonLinearFingerprintPositionEstimator3D

protected NonLinearFingerprintPositionEstimator3D()

Constructor.

NonLinearFingerprintPositionEstimator3D

protected NonLinearFingerprintPositionEstimator3D(FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

NonLinearFingerprintPositionEstimator3D

protected NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

NonLinearFingerprintPositionEstimator3D

protected NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

NonLinearFingerprintPositionEstimator3D

protected NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

initialPosition - initial position to start the solving algorithm or null.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

NonLinearFingerprintPositionEstimator3D

protected NonLinearFingerprintPositionEstimator3D(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition,
 FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

initialPosition - initial position to start the solving algorithm or null.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 2D position estimation at least 2 located total readings are required among all fingerprints, for example 2 readings are required in a single fingerprint, or at least 2 fingerprints at different locations containing a single reading are required. For 3D position estimation 3 located total readings are required among all fingerprints).

Method Details

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of points.

Specified by:

getNumberOfDimensions in class BaseFingerprintPositionEstimator<com.irurueta.geometry.Point3D,FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

number of dimensions of points.

getEstimatedPosition

public com.irurueta.geometry.Point3D getEstimatedPosition()

Gets estimated position or null if not available yet.

Specified by:

getEstimatedPosition in class BaseFingerprintPositionEstimator<com.irurueta.geometry.Point3D,FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

estimated position or null.

create

public static NonLinearFingerprintPositionEstimator3D create(NonLinearFingerprintPositionEstimatorType type)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

type - type to be used.

Returns:

a non-linear 3D position estimator.

create

public static NonLinearFingerprintPositionEstimator3D create(FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 NonLinearFingerprintPositionEstimatorType type)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

listener - listener in charge of handling events.

type - a non-linear 3D position estimator.

Returns:

a non-linear 3D position estimator.

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 NonLinearFingerprintPositionEstimatorType type)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

type - a non-linear 3D position estimator.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 NonLinearFingerprintPositionEstimatorType type)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

listener - listener in charge of handling events.

type - a non-linear 3D position estimator.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition,
 NonLinearFingerprintPositionEstimatorType type)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

initialPosition - initial position to start the solving algorithm or null.

type - a non-linear 3D position estimator.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition,
 FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 NonLinearFingerprintPositionEstimatorType type)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

initialPosition - initial position to start the solving algorithm or null.

listener - listener in charge of handling events.

type - a non-linear 3D position estimator.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

create

public static NonLinearFingerprintPositionEstimator3D create()

Creates an instance of a non-linear 3D position estimator using provided type.

Returns:

a non-linear 3D position estimator.

create

public static NonLinearFingerprintPositionEstimator3D create(FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

listener - listener in charge of handling events.

Returns:

a non-linear 3D position estimator.

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

listener - listener in charge of handling events.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

initialPosition - initial position to start the solving algorithm or null.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).

create

public static NonLinearFingerprintPositionEstimator3D create(List<? extends RssiFingerprintLocated<? extends RadioSource,? extends RssiReading<? extends RadioSource>,com.irurueta.geometry.Point3D>> locatedFingerprints,
 RssiFingerprint<? extends RadioSource,? extends RssiReading<? extends RadioSource>> fingerprint,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.geometry.Point3D initialPosition,
 FingerprintPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates an instance of a non-linear 3D position estimator using provided type.

Parameters:

locatedFingerprints - located fingerprints containing RSSI readings.

fingerprint - fingerprint containing readings at an unknown location for provided located fingerprints.

sources - located radio sources.

initialPosition - initial position to start the solving algorithm or null.

listener - listener in charge of handling events.

Returns:

a non-linear 3D position estimator.

Throws:

IllegalArgumentException - if provided non located fingerprint is null, located fingerprints value is null or there are not enough fingerprints or readings within provided fingerprints (for 3D position estimation 3 located total readings are required among all fingerprints).