Package com.irurueta.navigation.indoor.position

Class RobustMixedPositionEstimator3D

java.lang.Object

com.irurueta.navigation.indoor.position.RobustPositionEstimator<com.irurueta.geometry.Point3D,Reading<? extends RadioSource>,RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D>>

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

com.irurueta.navigation.indoor.position.RobustMixedPositionEstimator3D

Direct Known Subclasses:

LMedSRobustMixedPositionEstimator3D, MSACRobustMixedPositionEstimator3D, PROMedSRobustMixedPositionEstimator3D, PROSACRobustMixedPositionEstimator3D, RANSACRobustMixedPositionEstimator3D

public abstract class RobustMixedPositionEstimator3D
extends RobustMixedPositionEstimator<com.irurueta.geometry.Point3D>

Base class for robust 3D position estimators using located radio sources and their readings at unknown locations. These kind of estimators can be used to robustly determine the 3D position of a given device by getting readings at an unknown location of different radio sources whose locations are known. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

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

Modifier	Constructor	Description
protected	RobustMixedPositionEstimator3D()	Constructor.
protected	RobustMixedPositionEstimator3D(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
static RobustMixedPositionEstimator3D	create()	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(double[] sourceQualityScores, double[] fingerprintReadingQualityScores, List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
static RobustMixedPositionEstimator3D	create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position estimator.
int	getMinRequiredSources()	Gets minimum required number of located radio sources to perform lateration.
protected void	setPositionsDistancesDistanceStandardDeviationsAndQualityScores(List<com.irurueta.geometry.Point3D> positions, List<Double> distances, List<Double> distanceStandardDeviations, List<Double> distanceQualityScores)	Sets positions, distances and standard deviations of distances on internal lateration solver.

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, getMethod, 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

RobustMixedPositionEstimator3D

protected RobustMixedPositionEstimator3D()

Constructor.

RobustMixedPositionEstimator3D

protected RobustMixedPositionEstimator3D(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of handling events.

Method Details

create

public static RobustMixedPositionEstimator3D create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

method - robust estimator method.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sources - located radio sources used for lateration.

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

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

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sources - located radio sources used for lateration.

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

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

listener - listener in charge of handling events.

method - robust estimator method.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sources - located radio sources used for lateration.

listener - listener in charge of handling events.

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

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

listener - listener in charge of handling events.

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

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 - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

method - robust estimator method.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

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

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

listener - listener in charge of handling events.

method - robust estimator method.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

listener - listener in charge of handling events.

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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

listener - listener in charge of handling events.

method - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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 - robust estimator method.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create()

Creates a robust 3D position estimator.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Creates a robust 3D position estimator.

Parameters:

sources - located radio sources used for lateration.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Creates a robust 3D position estimator.

Parameters:

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

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Creates a robust 3D position estimator.

Parameters:

sources - located radio sources used for lateration.

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

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

Parameters:

listener - listener in charge of handling events.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

Parameters:

sources - located radio sources used for lateration.

listener - listener in charge of handling events.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

Parameters:

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

listener - listener in charge of handling events.

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

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.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

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

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

listener - listener in charge of handling events.

Returns:

a robust 3D position estimator.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

sources - located radio sources used for lateration.

listener - listener in charge of handling events.

Returns:

a robust 3D position estimator.

Throws:

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

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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

listener - listener in charge of handling events.

Returns:

a robust 3D position estimator.

Throws:

IllegalArgumentException - if provided fingerprint is null.

create

public static RobustMixedPositionEstimator3D create(double[] sourceQualityScores,
 double[] fingerprintReadingQualityScores,
 List<? extends RadioSourceLocated<com.irurueta.geometry.Point3D>> sources,
 Fingerprint<? extends RadioSource,? extends Reading<? extends RadioSource>> fingerprint,
 RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position estimator.

Parameters:

sourceQualityScores - quality scores corresponding to each provided located radio source. The larger the score value the better the quality of the radio source.

fingerprintReadingQualityScores - quality scores corresponding to readings within provided fingerprint. The larger the score the better the quality of the reading.

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.

Returns:

a robust 3D position estimator.

Throws:

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

getMinRequiredSources

public int getMinRequiredSources()

Gets minimum required number of located radio sources to perform lateration.

Specified by:

getMinRequiredSources in class RobustPositionEstimator<com.irurueta.geometry.Point3D,Reading<? extends RadioSource>,RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Returns:

minimum required number of located radio sources to perform lateration.

setPositionsDistancesDistanceStandardDeviationsAndQualityScores

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

Sets positions, distances and standard deviations of distances on internal lateration solver.

Specified by:

setPositionsDistancesDistanceStandardDeviationsAndQualityScores in class RobustPositionEstimator<com.irurueta.geometry.Point3D,Reading<? extends RadioSource>,RobustMixedPositionEstimatorListener<com.irurueta.geometry.Point3D>>

Parameters:

positions - positions to be set.

distances - distances to be set.

distanceStandardDeviations - standard deviations of distances to be set.

distanceQualityScores - distance quality scores or null if not required.