Package com.irurueta.navigation.indoor.position

Class RANSACRobustRangingPositionEstimator2D

java.lang.Object

com.irurueta.navigation.indoor.position.RobustPositionEstimator<com.irurueta.geometry.Point2D,RangingReading<? extends RadioSource>,RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point2D>>

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

com.irurueta.navigation.indoor.position.RobustRangingPositionEstimator2D

com.irurueta.navigation.indoor.position.RANSACRobustRangingPositionEstimator2D

public class RANSACRobustRangingPositionEstimator2D
extends RobustRangingPositionEstimator2D

Robustly estimates 2D position using located ranging radio sources and their ranging readings at unknown locations and using RANSAC 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
RANSACRobustRangingPositionEstimator2D()	Constructor.
RANSACRobustRangingPositionEstimator2D(RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)	Constructor.
RANSACRobustRangingPositionEstimator2D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)	Constructor.
RANSACRobustRangingPositionEstimator2D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)	Constructor.
RANSACRobustRangingPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources)	Constructor.
RANSACRobustRangingPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources, RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)	Constructor.
RANSACRobustRangingPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources, RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint)	Constructor.
RANSACRobustRangingPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources, RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint, RobustRangingPositionEstimatorListener<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.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResiduals()	Indicates whether residuals must be computed and kept.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
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.RobustRangingPositionEstimator2D

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

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D()

Constructor.

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D(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.

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? 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.

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources,
 RangingFingerprint<? extends RadioSource,? extends RangingReading<? 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.

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D(RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources,
 RobustRangingPositionEstimatorListener<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.

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D(RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

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

listener - listener in charge of handling events.

Throws:

IllegalArgumentException - if provided fingerprint is null.

RANSACRobustRangingPositionEstimator2D

public RANSACRobustRangingPositionEstimator2D(List<? extends RadioSourceLocated<com.irurueta.geometry.Point2D>> sources,
 RangingFingerprint<? extends RadioSource,? extends RangingReading<? extends RadioSource>> fingerprint,
 RobustRangingPositionEstimatorListener<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.

Throws:

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

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 estimator is locked.

isComputeAndKeepInliersEnabled

public boolean isComputeAndKeepInliersEnabled()

Indicates whether inliers must be computed and kept.

Returns:

true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

setComputeAndKeepInliersEnabled

public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
                                     throws com.irurueta.navigation.LockedException

Specifies whether inliers must be computed and kept.

Parameters:

computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

Throws:

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

isComputeAndKeepResiduals

public boolean isComputeAndKeepResiduals()

Indicates whether residuals must be computed and kept.

Returns:

true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

setComputeAndKeepResidualsEnabled

public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
                                       throws com.irurueta.navigation.LockedException

Specifies whether residuals must be computed and kept.

Parameters:

computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

Throws:

com.irurueta.navigation.LockedException - if this estimator 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,RangingReading<? extends RadioSource>,RobustRangingPositionEstimatorListener<com.irurueta.geometry.Point2D>>

Returns:

method being used for robust estimation.

init

private void init()

Initializes robust lateration solver.