Package com.irurueta.navigation.indoor.position

Class LinearMixedPositionEstimator3D

java.lang.Object

com.irurueta.navigation.indoor.position.PositionEstimator<com.irurueta.geometry.Point3D,Reading<? extends RadioSource>,MixedPositionEstimatorListener<com.irurueta.geometry.Point3D>>

com.irurueta.navigation.indoor.position.MixedPositionEstimator<com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.position.LinearMixedPositionEstimator<com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.position.LinearMixedPositionEstimator3D

public class LinearMixedPositionEstimator3D
extends LinearMixedPositionEstimator<com.irurueta.geometry.Point3D>

Linearly estimates 3D position using located radio sources and their readings at unknown locations. These kind of estimators can be used to determine the 3D position of a given device by getting ranging readings at an unknown location of different radio sources whose locations are known.

Field Summary

Fields inherited from class com.irurueta.navigation.indoor.position.LinearMixedPositionEstimator

DEFAULT_USE_HOMOGENEOUS_LINEAR_SOLVER, homogeneousTrilaterationSolver, inhomogeneousTrilaterationSolver, laterationSolverListener, useHomogeneousLinearSolver

Fields inherited from class com.irurueta.navigation.indoor.position.PositionEstimator

estimatedPositionCoordinates, fingerprint, listener, sources

Constructor Summary

Constructors

Constructor	Description
LinearMixedPositionEstimator3D()	Constructor.
LinearMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor.
LinearMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
LinearMixedPositionEstimator3D(MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Constructor.
LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor.
LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.
LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.geometry.Point3D	getEstimatedPosition()	Gets estimated position.
private void	initialize()	Initializes lateration solver.
protected void	setPositionsAndDistances(List<com.irurueta.geometry.Point3D> positions, List<Double> distances)	Sets positions and distances on internal lateration solver.

Methods inherited from class com.irurueta.navigation.indoor.position.LinearMixedPositionEstimator

estimate, getDistances, getMinRequiredSources, getPositions, internalSetFingerprint, internalSetSources, isHomogeneousLinearSolverUsed, isLocked, isReady, setHomogeneousLinearSolverUsed

Methods inherited from class com.irurueta.navigation.indoor.position.PositionEstimator

getEstimatedPosition, getEstimatedPositionCoordinates, getFingerprint, getListener, getSources, setFingerprint, setListener, setSources

Methods inherited from class java.lang.Object

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

Constructor Details

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D()

Constructor.

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Constructor.

Parameters:

sources - located radio sources used for lateration.

Throws:

IllegalArgumentException - if provided sources is null or the number of provided sources is less than the required minimum.

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

fingerprint - fingerprint containing ranging readings at an unknown location for provided located radio sources.

Throws:

IllegalArgumentException - if provided fingerprint is null.

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing ranging readings at an unknown location for provided located radio sources.

Throws:

IllegalArgumentException - if either provided sources or fingerprint is null or the number of provided sources is less than the required minimum.

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D(MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided sources is null or the number of provided sources is less than the required minimum.

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

fingerprint - fingerprint containing ranging readings at an unknown location for provided location radio sources.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

LinearMixedPositionEstimator3D

public LinearMixedPositionEstimator3D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 MixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing ranging readings at an unknown location for provided located radio sources.

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if either provided sources or fingerprint is null or the number of provided sources is less than the required minimum.

Method Details

getEstimatedPosition

public com.irurueta.geometry.Point3D getEstimatedPosition()

Gets estimated position.

Specified by:

getEstimatedPosition in class PositionEstimator<com.irurueta.geometry.Point3D,Reading<? extends RadioSource>,MixedPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

estimated position.

setPositionsAndDistances

protected void setPositionsAndDistances(List<com.irurueta.geometry.Point3D> positions,
 List<Double> distances)

Sets positions and distances on internal lateration solver.

Specified by:

setPositionsAndDistances in class LinearMixedPositionEstimator<com.irurueta.geometry.Point3D>

Parameters:

positions - positions to be set.

distances - distances to be set.

Throws:

IllegalArgumentException - if something fails.

initialize

private void initialize()

Initializes lateration solver.