Package com.irurueta.navigation.indoor.position

Class RobustPositionEstimator<P extends com.irurueta.geometry.Point<?>,R extends Reading<? extends RadioSource>,L extends RobustPositionEstimatorListener<? extends RobustPositionEstimator<?,?,?>>>

java.lang.Object
com.irurueta.navigation.indoor.position.RobustPositionEstimator<P,R,L>
Type Parameters:
P - a Point type.
R - a Reading type.
L - a RobustPositionEstimatorListener type.
Direct Known Subclasses:
RobustMixedPositionEstimator, RobustRangingAndRssiPositionEstimator, RobustRangingPositionEstimator, RobustRssiPositionEstimator
public abstract class RobustPositionEstimator<P extends com.irurueta.geometry.Point<?>,R extends Reading<? extends RadioSource>,L extends RobustPositionEstimatorListener<? extends RobustPositionEstimator<?,?,?>>> extends Object
Base class for robust position estimators using located radio sources and their readings at unknown locations. These kind of estimators can be used to robustly determine the 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
    Modifier and Type
    Field
    Description
    static final boolean
    DEFAULT_EVENLY_DISTRIBUTE_READINGS
    Indicates that by default readings are distributed evenly among radio sources taking into account quality scores of both radio sources and readings.
    static final com.irurueta.numerical.robust.RobustEstimatorMethod
    DEFAULT_ROBUST_METHOD
    Default robust estimator method when none is provided.
    static final boolean
    DEFAULT_USE_RADIO_SOURCE_POSITION_COVARIANCE
    Indicates that by default located radio source position covariance is taken into account (if available) to determine distance standard deviation.
    private boolean
    evenlyDistributeReadings
    Indicates whether readings are evenly distributed among radio sources taking into account quality scores of both radio sources and readings.
    static final double
    FALLBACK_DISTANCE_STANDARD_DEVIATION
    Distance standard deviation assumed for provided distances as a fallback when none can be determined.
    private double
    fallbackDistanceStandardDeviation
    Distance standard deviation fallback value to use when none can be determined from provided radio sources and fingerprint readings.
    protected Fingerprint<? extends RadioSource,? extends R>
    fingerprint
    Fingerprint containing readings at an unknown location for provided located radio sources.
    protected com.irurueta.navigation.lateration.RobustLaterationSolver<P>
    laterationSolver
    A robust lateration solver to solve position.
    protected L
    listener
    Listener to be notified of events raised by this instance.
    protected int
    preliminarySubsetSize
    Size of subsets to be checked during robust estimation.
    protected List<? extends RadioSourceLocated<P>>
    sources
    Located radio sources used for lateration.
    protected com.irurueta.navigation.lateration.RobustLaterationSolverListener<P>
    trilaterationSolverListener
    Listener for the robust lateration solver.
    private boolean
    useRadioSourcePositionCovariance
    Indicates whether located radio source position covariances must be taken into account (if available) to determine distance standard deviation.

  • Constructor Summary

    Constructors
    Modifier
    Constructor
    Description
    protected
    RobustPositionEstimator()
    Constructor.
    protected
    RobustPositionEstimator(L listener)
    Constructor.

  • Method Summary

    Modifier and Type
    Method
    Description
    protected void
    buildPositionsDistancesDistanceStandardDeviationsAndQualityScores()
    Builds positions, distances, standard deviation of distances and quality scores for the internal lateration solver.
    P
    estimate()
    Estimates position based on provided located radio sources and readings of such sources at an unknown location.
    double
    getConfidence()
    Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
    com.irurueta.algebra.Matrix
    getCovariance()
    Gets estimated covariance of estimated position if available.
    double[]
    getDistances()
    Gets Euclidean distances from known located radio sources to the location of provided readings in a fingerprint.
    double[]
    getDistanceStandardDeviations()
    Gets standard deviation distances from known located radio sources to the location of provided readings in a fingerprint.
    P
    getEstimatedPosition()
    Gets estimated position.
    boolean
    getEvenlyDistributeReadings()
    Indicates whether readings are evenly distributed among radio sources taking into account quality scores of both radio sources and readings.
    double
    getFallbackDistanceStandardDeviation()
    Gets distance standard deviation fallback value to use when none can be determined from provided radio sources and fingerprint readings.
    Fingerprint<RadioSource,Reading<RadioSource>>
    getFingerprint()
    Gets fingerprint containing readings at an unknown location for provided located radio sources.
    double[]
    getFingerprintReadingsQualityScores()
    Gets quality scores corresponding to each reading within provided fingerprint.
    P
    getInitialPosition()
    Gets initial position to use as a starting point to find a new solution.
    com.irurueta.numerical.robust.InliersData
    getInliersData()
    Gets data related to inliers found after estimation.
    L
    getListener()
    Gets listener to be notified of events raised by this instance.
    int
    getMaxIterations()
    Returns maximum allowed number of iterations.
    abstract com.irurueta.numerical.robust.RobustEstimatorMethod
    getMethod()
    Returns method being used for robust estimation.
    abstract int
    getMinRequiredSources()
    Gets minimum required number of located radio sources to perform lateration.
    int
    getNumberOfDimensions()
    Gets number of dimensions of provided points.
    P[]
    getPositions()
    Gets known positions of radio sources used internally to solve lateration.
    int
    getPreliminarySubsetSize()
    Gets size of subsets to be checked during robust estimation.
    float
    getProgressDelta()
    Returns amount of progress variation before notifying a progress change during estimation.
    double[]
    getSourceQualityScores()
    Returns quality scores corresponding to each radio source.
    List<RadioSourceLocated<P>>
    getSources()
    Gets located radio sources used for lateration.
    protected void
    internalSetFingerprint(Fingerprint<? extends RadioSource,? extends R> fingerprint)
    Internally sets fingerprint containing readings at an unknown location for provided located radio sources.
    protected void
    internalSetSources(List<? extends RadioSourceLocated<P>> sources)
    Internally sets located radio sources used for lateration.
    boolean
    isCovarianceKept()
    Indicates whether covariance must be kept after refining result.
    boolean
    isHomogeneousLinearSolverUsed()
    Indicates whether an homogeneous linear solver is used either to estimate preliminary solutions or an initial solution for preliminary solutions that will be later refined.
    boolean
    isLinearSolverUsed()
    Indicates whether a linear solver is used or not (either homogeneous or inhomogeneous) for preliminary solutions.
    boolean
    isLocked()
    Returns boolean indicating if estimator is locked because estimation is under progress.
    boolean
    isPreliminarySolutionRefined()
    Indicates whether preliminary solutions must be refined after an initial linear solution is found.
    boolean
    isRadioSourcePositionCovarianceUsed()
    Indicates whether located radio source position covariance must be taken into account (if available) to determine distance standard deviation.
    boolean
    isReady()
    Indicates whether estimator is ready to find a solution.
    boolean
    isResultRefined()
    Indicates whether result must be refined using a non-linear estimator over found inliers.
    void
    setConfidence(double confidence)
    Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%).
    void
    setCovarianceKept(boolean keepCovariance)
    Specifies whether covariance must be kept after refining result.
    void
    setEvenlyDistributeReadings(boolean evenlyDistributeReadings)
    Specifies whether readings are evenly distributed among radio sources taking into account quality scores of both radio sources and readings.
    void
    setFallbackDistanceStandardDeviation(double fallbackDistanceStandardDeviation)
    Sets distance standard deviation fallback value to use when none can be determined from provided radio sources and fingerprint readings.
    void
    setFingerprint(Fingerprint<? extends RadioSource,? extends R> fingerprint)
    Sets fingerprint containing readings at an unknown location for provided located radio sources.
    void
    setFingerprintReadingsQualityScores(double[] fingerprintReadingsQualityScores)
    Sets quality scores corresponding to each reading within provided fingerprint.
    void
    setHomogeneousLinearSolverUsed(boolean useHomogeneousLinearSolver)
    Specifies whether an homogeneous linear solver is used either to estimate preliminary solutions or an initial solution for preliminary solutions that will be later refined.
    void
    setInitialPosition(P initialPosition)
    Sets initial position to use as a starting point to find a new solution.
    void
    setLinearSolverUsed(boolean linearSolverUsed)
    Specifies whether a linear solver is used or not (either homogeneous or inhomogeneous) for preliminary solutions.
    void
    setListener(L listener)
    Sets listener to be notified of events raised by this instance.
    void
    setMaxIterations(int maxIterations)
    Sets maximum allowed number of iterations.
    protected abstract void
    setPositionsDistancesDistanceStandardDeviationsAndQualityScores(List<P> positions, List<Double> distances, List<Double> distanceStandardDeviations, List<Double> distanceQualityScores)
    Sets positions, distances and standard deviations of distances on internal lateration solver.
    void
    setPreliminarySolutionRefined(boolean preliminarySolutionRefined)
    Specifies whether preliminary solutions must be refined after an initial linear solution is found.
    void
    setPreliminarySubsetSize(int preliminarySubsetSize)
    Sets size of subsets to be checked during robust estimation.
    void
    setProgressDelta(float progressDelta)
    Sets amount of progress variation before notifying a progress change during estimation.
    void
    setRadioSourcePositionCovarianceUsed(boolean useRadioSourcePositionCovariance)
    Specifies whether located radio source position covariance must be taken into account (if available) to determine distance standard deviation.
    void
    setResultRefined(boolean refineResult)
    Specifies whether result must be refined using a non-linear estimator over found inliers.
    void
    setSourceQualityScores(double[] sourceQualityScores)
    Sets quality scores corresponding to each radio source.
    void
    setSources(List<? extends RadioSourceLocated<P>> sources)
    Sets located radio sources used for lateration.

    Methods inherited from class java.lang.Object

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

  • Field Details

    • DEFAULT_ROBUST_METHOD

      public static final com.irurueta.numerical.robust.RobustEstimatorMethod DEFAULT_ROBUST_METHOD
      Default robust estimator method when none is provided.

    • DEFAULT_USE_RADIO_SOURCE_POSITION_COVARIANCE

      public static final boolean DEFAULT_USE_RADIO_SOURCE_POSITION_COVARIANCE
      Indicates that by default located radio source position covariance is taken into account (if available) to determine distance standard deviation.
      See Also:

    • DEFAULT_EVENLY_DISTRIBUTE_READINGS

      public static final boolean DEFAULT_EVENLY_DISTRIBUTE_READINGS
      Indicates that by default readings are distributed evenly among radio sources taking into account quality scores of both radio sources and readings.
      See Also:

    • FALLBACK_DISTANCE_STANDARD_DEVIATION

      public static final double FALLBACK_DISTANCE_STANDARD_DEVIATION
      Distance standard deviation assumed for provided distances as a fallback when none can be determined.
      See Also:

    • sources

      protected List<? extends RadioSourceLocated<P extends com.irurueta.geometry.Point<?>>> sources
      Located radio sources used for lateration.

    • fingerprint

      protected Fingerprint<? extends RadioSource,? extends R extends Reading<? extends RadioSource>> fingerprint
      Fingerprint containing readings at an unknown location for provided located radio sources.

    • useRadioSourcePositionCovariance

      private boolean useRadioSourcePositionCovariance
      Indicates whether located radio source position covariances must be taken into account (if available) to determine distance standard deviation.

    • evenlyDistributeReadings

      private boolean evenlyDistributeReadings
      Indicates whether readings are evenly distributed among radio sources taking into account quality scores of both radio sources and readings.

    • fallbackDistanceStandardDeviation

      private double fallbackDistanceStandardDeviation
      Distance standard deviation fallback value to use when none can be determined from provided radio sources and fingerprint readings.

    • listener

      protected L extends RobustPositionEstimatorListener<? extends RobustPositionEstimator<?,?,?>> listener
      Listener to be notified of events raised by this instance.

    • laterationSolver

      protected com.irurueta.navigation.lateration.RobustLaterationSolver<P extends com.irurueta.geometry.Point<?>> laterationSolver
      A robust lateration solver to solve position.

    • trilaterationSolverListener

      protected com.irurueta.navigation.lateration.RobustLaterationSolverListener<P extends com.irurueta.geometry.Point<?>> trilaterationSolverListener
      Listener for the robust lateration solver.

    • preliminarySubsetSize

      protected int preliminarySubsetSize
      Size of subsets to be checked during robust estimation.

  • Constructor Details

    • RobustPositionEstimator

      protected RobustPositionEstimator()
      Constructor.

    • RobustPositionEstimator

      protected RobustPositionEstimator(L listener)
      Constructor.
      Parameters:
      listener - listener in charge of handling events.

  • Method Details

    • getSources

      public List<RadioSourceLocated<P>> getSources()
      Gets located radio sources used for lateration.
      Returns:
      located radio sources used for lateration.

    • setSources

      public void setSources(List<? extends RadioSourceLocated<P>> sources) throws com.irurueta.navigation.LockedException
      Sets located radio sources used for lateration.
      Parameters:
      sources - located radio sources used for lateration.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.
      IllegalArgumentException - if provided value is null or the number of provided sources is less than the required minimum.

    • getFingerprint

      public Fingerprint<RadioSource,Reading<RadioSource>> getFingerprint()
      Gets fingerprint containing readings at an unknown location for provided located radio sources.
      Returns:
      fingerprint containing readings at an unknown location for provided located radio sources.

    • setFingerprint

      public void setFingerprint(Fingerprint<? extends RadioSource,? extends R> fingerprint) throws com.irurueta.navigation.LockedException
      Sets fingerprint containing readings at an unknown location for provided located radio sources.
      Parameters:
      fingerprint - fingerprint containing readings at an unknown location for provided located radio sources.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.

    • getListener

      public L getListener()
      Gets listener to be notified of events raised by this instance.
      Returns:
      listener to be notified of events raised by this instance.

    • setListener

      public void setListener(L listener) throws com.irurueta.navigation.LockedException
      Sets listener to be notified of events raised by this instance.
      Parameters:
      listener - listener to be notified of events raised by this instance.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.

    • isRadioSourcePositionCovarianceUsed

      public boolean isRadioSourcePositionCovarianceUsed()
      Indicates whether located radio source position covariance must be taken into account (if available) to determine distance standard deviation.
      Returns:
      true to take radio source position covariance into account, false otherwise.

    • setRadioSourcePositionCovarianceUsed

      public void setRadioSourcePositionCovarianceUsed(boolean useRadioSourcePositionCovariance) throws com.irurueta.navigation.LockedException
      Specifies whether located radio source position covariance must be taken into account (if available) to determine distance standard deviation.
      Parameters:
      useRadioSourcePositionCovariance - true to take radio source position covariance into account, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.

    • getEvenlyDistributeReadings

      public boolean getEvenlyDistributeReadings()
      Indicates whether readings are evenly distributed among radio sources taking into account quality scores of both radio sources and readings.
      Returns:
      true if readings are evenly distributed, false otherwise.

    • setEvenlyDistributeReadings

      public void setEvenlyDistributeReadings(boolean evenlyDistributeReadings) throws com.irurueta.navigation.LockedException
      Specifies whether readings are evenly distributed among radio sources taking into account quality scores of both radio sources and readings.
      Parameters:
      evenlyDistributeReadings - true if readings are evenly distributed, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.

    • getFallbackDistanceStandardDeviation

      public double getFallbackDistanceStandardDeviation()
      Gets distance standard deviation fallback value to use when none can be determined from provided radio sources and fingerprint readings.
      Returns:
      distance standard deviation to use as fallback.

    • setFallbackDistanceStandardDeviation

      public void setFallbackDistanceStandardDeviation(double fallbackDistanceStandardDeviation) throws com.irurueta.navigation.LockedException
      Sets distance standard deviation fallback value to use when none can be determined from provided radio sources and fingerprint readings.
      Parameters:
      fallbackDistanceStandardDeviation - distance standard deviation to use as fallback.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.

    • isLocked

      public boolean isLocked()
      Returns boolean indicating if estimator is locked because estimation is under progress.
      Returns:
      true if estimator is locked, false otherwise.

    • getProgressDelta

      public float getProgressDelta()
      Returns amount of progress variation before notifying a progress change during estimation.
      Returns:
      amount of progress variation before notifying a progress change during estimation.

    • setProgressDelta

      public void setProgressDelta(float progressDelta) throws com.irurueta.navigation.LockedException
      Sets amount of progress variation before notifying a progress change during estimation.
      Parameters:
      progressDelta - amount of progress variation before notifying a progress change during estimation.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.
      IllegalArgumentException - if progress delta is less than zero or greater than 1.

    • getConfidence

      public double getConfidence()
      Returns amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Returns:
      amount of confidence as a value between 0.0 and 1.0.

    • setConfidence

      public void setConfidence(double confidence) throws com.irurueta.navigation.LockedException
      Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent to 100%). The amount of confidence indicates the probability that the estimated result is correct. Usually this value will be close to 1.0, but not exactly 1.0.
      Parameters:
      confidence - confidence to be set as a value between 0.0 and 1.0.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.
      IllegalArgumentException - if provided value is not between 0.0 and 1.0.

    • getMaxIterations

      public int getMaxIterations()
      Returns maximum allowed number of iterations. If maximum allowed number of iterations is achieved without converging to a result when calling solve(), a RobustEstimatorException will be raised.
      Returns:
      maximum allowed number of iterations.

    • setMaxIterations

      public void setMaxIterations(int maxIterations) throws com.irurueta.navigation.LockedException
      Sets maximum allowed number of iterations. When the maximum number of iterations is exceeded, result will not be available, however an approximate result will be available for retrieval.
      Parameters:
      maxIterations - maximum allowed number of iterations to be set.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.
      IllegalArgumentException - if provided value is less than 1.

    • isResultRefined

      public boolean isResultRefined()
      Indicates whether result must be refined using a non-linear estimator over found inliers.
      Returns:
      true to refine result, false to simply use result found by robust estimator without further refining.

    • setResultRefined

      public void setResultRefined(boolean refineResult) throws com.irurueta.navigation.LockedException
      Specifies whether result must be refined using a non-linear estimator over found inliers.
      Parameters:
      refineResult - true to refine result, false to simply use result found by robust estimator without further refining.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.

    • isCovarianceKept

      public boolean isCovarianceKept()
      Indicates whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Returns:
      true if covariance must be kept after refining result, false otherwise.

    • setCovarianceKept

      public void setCovarianceKept(boolean keepCovariance) throws com.irurueta.navigation.LockedException
      Specifies whether covariance must be kept after refining result. This setting is only taken into account if result is refined.
      Parameters:
      keepCovariance - true if covariance must be kept after refining result, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.

    • getInitialPosition

      public P getInitialPosition()
      Gets initial position to use as a starting point to find a new solution. This is optional, but if provided, when no linear solvers are used, this is taken into account. If linear solvers are used, this is ignored.
      Returns:
      an initial position.

    • setInitialPosition

      public void setInitialPosition(P initialPosition) throws com.irurueta.navigation.LockedException
      Sets initial position to use as a starting point to find a new solution. This is optional, but if provided, when no linear solvers are used, this is taken into account. If linear solvers are used, this is ignored.
      Parameters:
      initialPosition - an initial position.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.

    • isLinearSolverUsed

      public boolean isLinearSolverUsed()
      Indicates whether a linear solver is used or not (either homogeneous or inhomogeneous) for preliminary solutions.
      Returns:
      true if a linear solver is used, false otherwise.

    • setLinearSolverUsed

      public void setLinearSolverUsed(boolean linearSolverUsed) throws com.irurueta.navigation.LockedException
      Specifies whether a linear solver is used or not (either homogeneous or inhomogeneous) for preliminary solutions.
      Parameters:
      linearSolverUsed - true if a linear solver is used, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.

    • isHomogeneousLinearSolverUsed

      public boolean isHomogeneousLinearSolverUsed()
      Indicates whether an homogeneous linear solver is used either to estimate preliminary solutions or an initial solution for preliminary solutions that will be later refined.
      Returns:
      true if homogeneous linear solver is used, false otherwise.

    • setHomogeneousLinearSolverUsed

      public void setHomogeneousLinearSolverUsed(boolean useHomogeneousLinearSolver) throws com.irurueta.navigation.LockedException
      Specifies whether an homogeneous linear solver is used either to estimate preliminary solutions or an initial solution for preliminary solutions that will be later refined.
      Parameters:
      useHomogeneousLinearSolver - true if homogeneous linear solver is used, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.

    • isPreliminarySolutionRefined

      public boolean isPreliminarySolutionRefined()
      Indicates whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non-linear solver will be used regardless of this value using an average solution as the initial value to be refined.
      Returns:
      true if preliminary solutions must be refined after an initial linear solution, false otherwise.

    • setPreliminarySolutionRefined

      public void setPreliminarySolutionRefined(boolean preliminarySolutionRefined) throws com.irurueta.navigation.LockedException
      Specifies whether preliminary solutions must be refined after an initial linear solution is found. If no initial solution is found using a linear solver, a non-linear solver will be used regardless of this value using an average solution as the initial value to be refined.
      Parameters:
      preliminarySolutionRefined - true if preliminary solutions must be refined after an initial linear solution, false otherwise.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.

    • getInliersData

      public com.irurueta.numerical.robust.InliersData getInliersData()
      Gets data related to inliers found after estimation. Inlier data is related to the internal positions and distances used for solving lateration.
      Returns:
      data related to inliers found after estimation.

    • getPositions

      public P[] getPositions()
      Gets known positions of radio sources used internally to solve lateration.
      Returns:
      known positions used internally.

    • getDistances

      public double[] getDistances()
      Gets Euclidean distances from known located radio sources to the location of provided readings in a fingerprint. Distance values are used internally to solve lateration.
      Returns:
      Euclidean distances used internally.

    • getDistanceStandardDeviations

      public double[] getDistanceStandardDeviations()
      Gets standard deviation distances from known located radio sources to the location of provided readings in a fingerprint. Distance standard deviations are used internally to solve lateration.
      Returns:
      standard deviations used internally.

    • isReady

      public boolean isReady()
      Indicates whether estimator is ready to find a solution.
      Returns:
      true if estimator is ready, false otherwise.

    • getSourceQualityScores

      public double[] getSourceQualityScores()
      Returns quality scores corresponding to each radio source. The larger the score value the better the quality of the sample. This implementation always returns null. Subclasses using quality scores must implement proper behavior.
      Returns:
      quality scores corresponding to each radio source.

    • setSourceQualityScores

      public void setSourceQualityScores(double[] sourceQualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each radio source. The larger the score value the better the quality of the radio source. This implementation makes no action. Subclasses using quality scores must implement proper behavior.
      Parameters:
      sourceQualityScores - quality scores corresponding to each radio source.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

    • getFingerprintReadingsQualityScores

      public double[] getFingerprintReadingsQualityScores()
      Gets quality scores corresponding to each reading within provided fingerprint. The larger the score value the better the quality of the reading. This implementation always returns null. Subclasses using quality scores must implement proper behavior.
      Returns:
      quality scores corresponding to each reading within provided fingerprint.

    • setFingerprintReadingsQualityScores

      public void setFingerprintReadingsQualityScores(double[] fingerprintReadingsQualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each reading within provided fingerprint. The larger the score value the better the quality of the reading. This implementation makes no action. Subclasses using quality scores must implement proper behavior.
      Parameters:
      fingerprintReadingsQualityScores - quality scores corresponding to each reading within provided fingerprint.
      Throws:
      com.irurueta.navigation.LockedException - if this instance is locked.
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

    • getPreliminarySubsetSize

      public int getPreliminarySubsetSize()
      Gets size of subsets to be checked during robust estimation. This has to be at least getMinRequiredSources().
      Returns:
      size of subsets to be checked during robust estimation.

    • setPreliminarySubsetSize

      public void setPreliminarySubsetSize(int preliminarySubsetSize) throws com.irurueta.navigation.LockedException
      Sets size of subsets to be checked during robust estimation. This has to be at least getMinRequiredSources().
      Parameters:
      preliminarySubsetSize - size of subsets to be checked during robust estimation.
      Throws:
      com.irurueta.navigation.LockedException - if instance is busy solving the lateration problem.
      IllegalArgumentException - if provided value is less than getMinRequiredSources().

    • getCovariance

      public com.irurueta.algebra.Matrix getCovariance()
      Gets estimated covariance of estimated position if available. This is only available when result has been refined and covariance is kept.
      Returns:
      estimated covariance or null.

    • getEstimatedPosition

      public P getEstimatedPosition()
      Gets estimated position.
      Returns:
      estimated position.

    • getNumberOfDimensions

      public int getNumberOfDimensions()
      Gets number of dimensions of provided points.
      Returns:
      number of dimensions of provided points.

    • estimate

      public P estimate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, com.irurueta.numerical.robust.RobustEstimatorException
      Estimates position based on provided located radio sources and readings of such sources at an unknown location.
      Returns:
      estimated position.
      Throws:
      com.irurueta.navigation.LockedException - if estimator is locked.
      com.irurueta.navigation.NotReadyException - if estimator is not ready.
      com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for some other reason.

    • getMinRequiredSources

      public abstract int getMinRequiredSources()
      Gets minimum required number of located radio sources to perform lateration.
      Returns:
      minimum required number of located radio sources to perform lateration.

    • getMethod

      public abstract com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Returns:
      method being used for robust estimation.

    • internalSetSources

      protected void internalSetSources(List<? extends RadioSourceLocated<P>> sources)
      Internally sets located radio sources used for lateration.
      Parameters:
      sources - located radio sources used for lateration.
      Throws:
      IllegalArgumentException - if provided value is null or the number of provided sources is less than the required minimum.

    • internalSetFingerprint

      protected void internalSetFingerprint(Fingerprint<? extends RadioSource,? extends R> fingerprint)
      Internally sets fingerprint containing readings at an unknown location for provided located radio sources.
      Parameters:
      fingerprint - fingerprint containing readings at an unknown location for provided located radio sources.
      Throws:
      IllegalArgumentException - if provided value is null.

    • setPositionsDistancesDistanceStandardDeviationsAndQualityScores

      protected abstract void setPositionsDistancesDistanceStandardDeviationsAndQualityScores(List<P> positions, List<Double> distances, List<Double> distanceStandardDeviations, List<Double> distanceQualityScores)
      Sets positions, distances and standard deviations of distances on internal lateration solver.
      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.

    • buildPositionsDistancesDistanceStandardDeviationsAndQualityScores

      protected void buildPositionsDistancesDistanceStandardDeviationsAndQualityScores()
      Builds positions, distances, standard deviation of distances and quality scores for the internal lateration solver.