Package com.irurueta.navigation.indoor.position

Class MSACRobustMixedPositionEstimator2D

java.lang.Object

com.irurueta.navigation.indoor.position.RobustPositionEstimator<com.irurueta.geometry.Point2D,Reading<? extends RadioSource>,RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D>>

com.irurueta.navigation.indoor.position.RobustMixedPositionEstimator<com.irurueta.geometry.Point2D>

com.irurueta.navigation.indoor.position.RobustMixedPositionEstimator2D

com.irurueta.navigation.indoor.position.MSACRobustMixedPositionEstimator2D

public class MSACRobustMixedPositionEstimator2D
extends RobustMixedPositionEstimator2D

Robustly estimates 2D position using located radio sources and their readings at unknown locations and using MSAC algorithm to discard outliers. This kind of estimator can be used to robustly determine the 2D position of a given device by getting readings at an unknown location of different radio sources whose 2D locations are known.

Field Summary

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

DEFAULT_EVENLY_DISTRIBUTE_READINGS, DEFAULT_ROBUST_METHOD, DEFAULT_USE_RADIO_SOURCE_POSITION_COVARIANCE, FALLBACK_DISTANCE_STANDARD_DEVIATION, fingerprint, laterationSolver, listener, preliminarySubsetSize, sources, trilaterationSolverListener

Constructor Summary

Constructors

Constructor	Description
MSACRobustMixedPositionEstimator2D()	Constructor.
MSACRobustMixedPositionEstimator2D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor.
MSACRobustMixedPositionEstimator2D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustMixedPositionEstimator2D(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources)	Constructor.
MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Constructor
MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)	Constructor.
MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getThreshold()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
private void	init()	Initializes robust lateration solver.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not when testing possible solutions.

Methods inherited from class com.irurueta.navigation.indoor.position.RobustMixedPositionEstimator2D

create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getMinRequiredSources, setPositionsDistancesDistanceStandardDeviationsAndQualityScores

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

buildPositionsDistancesDistanceStandardDeviationsAndQualityScores, estimate, getConfidence, getCovariance, getDistances, getDistanceStandardDeviations, getEstimatedPosition, getEvenlyDistributeReadings, getFallbackDistanceStandardDeviation, getFingerprint, getFingerprintReadingsQualityScores, getInitialPosition, getInliersData, getListener, getMaxIterations, getNumberOfDimensions, getPositions, getPreliminarySubsetSize, getProgressDelta, getSourceQualityScores, getSources, internalSetFingerprint, internalSetSources, isCovarianceKept, isHomogeneousLinearSolverUsed, isLinearSolverUsed, isLocked, isPreliminarySolutionRefined, isRadioSourcePositionCovarianceUsed, isReady, isResultRefined, setConfidence, setCovarianceKept, setEvenlyDistributeReadings, setFallbackDistanceStandardDeviation, setFingerprint, setFingerprintReadingsQualityScores, setHomogeneousLinearSolverUsed, setInitialPosition, setLinearSolverUsed, setListener, setMaxIterations, setPreliminarySolutionRefined, setPreliminarySubsetSize, setProgressDelta, setRadioSourcePositionCovarianceUsed, setResultRefined, setSourceQualityScores, setSources

Methods inherited from class java.lang.Object

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

Constructor Details

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D()

Constructor.

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> 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.

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Constructor.

Parameters:

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

Throws:

IllegalArgumentException - if provided fingerprint is null.

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Constructor

Parameters:

sources - located radio sources used for lateration.

fingerprint - fingerprint containing 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.

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> 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.

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

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

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

MSACRobustMixedPositionEstimator2D

public MSACRobustMixedPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

sources - located radio sources used for lateration.

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

listener - listener in charge of handling events.

Method Details

getThreshold

public double getThreshold()

Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

Returns:

threshold to determine whether samples are inliers or not.

setThreshold

public void setThreshold(double threshold)
                  throws com.irurueta.navigation.LockedException

Sets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

Parameters:

threshold - threshold to determine whether samples are inliers or not.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

com.irurueta.navigation.LockedException - if this solver is locked.

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustPositionEstimator<com.irurueta.geometry.Point2D,Reading<? extends RadioSource>,RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point2D>>

Returns:

method being used for robust estimation.

init

private void init()

Initializes robust lateration solver.