Package com.irurueta.navigation.indoor.radiosource

Class MSACRobustRangingRadioSourceEstimator3D<S extends RadioSource>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S,com.irurueta.geometry.Point3D>,RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D>>

com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator<S,com.irurueta.geometry.Point3D>

com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator3D<S>

com.irurueta.navigation.indoor.radiosource.MSACRobustRangingRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class MSACRobustRangingRadioSourceEstimator3D<S extends RadioSource>
extends RobustRangingRadioSourceEstimator3D<S>

Robustly estimated 3D position of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers using MSAC algorithm.

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator

RobustRangingRadioSourceEstimator.Solution<P extends com.irurueta.geometry.Point<?>>

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether samples are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator3D

innerEstimator

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator

DEFAULT_USE_READING_POSITION_COVARIANCES, initialPosition, useReadingPositionCovariances

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator

confidence, covariance, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, estimatedPosition, estimatedPositionCovariance, inliersData, keepCovariance, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, preliminarySubsetSize, progressDelta, readings, refineResult

Constructor Summary

Constructors

Constructor	Description
MSACRobustRangingRadioSourceEstimator3D()	Constructor.
MSACRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
MSACRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
void	estimate()	Robustly estimates position for a radio source.
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getThreshold()	Returns threshold to determine whether samples are inliers or not.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not.

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator3D

attemptRefine, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getEstimatedRadioSource, getMinReadings, getNumberOfDimensions, isHomogeneousLinearSolverUsed, setHomogeneousLinearSolverUsed, solvePreliminarySolutions

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator

getInitialPosition, getUseReadingPositionCovariance, isReady, residual, setInitialPosition, setUseReadingPositionCovariances

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator

areValidReadings, getConfidence, getCovariance, getEstimatedPosition, getEstimatedPositionCovariance, getInliersData, getListener, getMaxIterations, getPreliminarySubsetSize, getProgressDelta, getQualityScores, getReadings, internalSetReadings, isCovarianceKept, isLocked, isResultRefined, setConfidence, setCovarianceKept, setListener, setMaxIterations, setPreliminarySubsetSize, setProgressDelta, setQualityScores, setReadings, setResultRefined

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether samples are inliers or not.

See Also:

• Constant Field Values

MIN_THRESHOLD

public static final double MIN_THRESHOLD

Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

Constructor Details

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D()

Constructor.

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

Constructor. Sets radio signal ranging readings belonging to the same radio source.

Parameters:

readings - radio signal ranging readings belonging to the same radio source.

Throws:

IllegalArgumentException - if readings are not valid.

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener in charge of attending events raised by this instance.

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets radio signal readings belonging to the same radio source.

Parameters:

readings - radio signal readings belonging to the same radio source.

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

initialPosition - initial position to start the estimation or radio source position.

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition)

Constructor. Sets radio signal readings belonging to the same radio source.

Parameters:

readings - radio signal readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

Throws:

IllegalArgumentException - if readings are not valid.

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialPosition - initial position to start the estimation of radio source position.

listener - listener in charge of attending events raised by this instance.

MSACRobustRangingRadioSourceEstimator3D

public MSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor. Sets radio signal ranging readings belonging to the same radio source.

Parameters:

readings - radio signal ranging readings belonging to the same radio source.

initialPosition - initial position to start the estimation of radio source position.

listener - listener in charge of attending events raised by this instance.

Throws:

IllegalArgumentException - if readings are not valid.

Method Details

getThreshold

public double getThreshold()

Returns threshold to determine whether samples are inliers or not.

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.

Parameters:

threshold - threshold to be set.

Throws:

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

com.irurueta.navigation.LockedException - if robust estimator is locked because an estimation is already in progress.

estimate

public void estimate()
              throws com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Robustly estimates position for a radio source.

Specified by:

estimate in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>

Throws:

com.irurueta.navigation.LockedException - if instance is busy during estimation.

com.irurueta.navigation.NotReadyException - if estimator is not ready.

com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).

getMethod

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

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustRangingRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>

Returns:

method being used for robust estimation.