Package com.irurueta.navigation.indoor.radiosource

Class PROSACRobustRangingRadioSourceEstimator3D<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.PROSACRobustRangingRadioSourceEstimator3D<S>

Type Parameters:

S - a RadioSource type.

public class PROSACRobustRangingRadioSourceEstimator3D<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 PROSAC 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
private boolean	computeAndKeepInliers	Indicates whether inliers must be computed and kept.
private boolean	computeAndKeepResiduals	Indicates whether residuals must be computed and kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_INLIERS	Indicates that by default inliers will only be computed but not kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_RESIDUALS	Indicates that by default residuals will only be computed but not kept.
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[]	qualityScores	Quality scores corresponding to each provided sample.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible 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
PROSACRobustRangingRadioSourceEstimator3D()	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
PROSACRobustRangingRadioSourceEstimator3D(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[]	getQualityScores()	Returns quality scores corresponding to each pair of positions and distances (i.e. sample).
double	getThreshold()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided sample.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResidualsEnabled()	Indicates whether residuals must be computed and kept.
boolean	isReady()	Indicates whether solver is ready to find a solution.
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	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of positions and distances (i.e. sample).
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.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, residual, setInitialPosition, setUseReadingPositionCovariances

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

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

DEFAULT_COMPUTE_AND_KEEP_INLIERS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS

Indicates that by default inliers will only be computed but not kept.

See Also:

• Constant Field Values

DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

Indicates that by default residuals will only be computed but not kept.

See Also:

• Constant Field Values

threshold

private double threshold

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.

computeAndKeepInliers

private boolean computeAndKeepInliers

Indicates whether inliers must be computed and kept.

computeAndKeepResiduals

private boolean computeAndKeepResiduals

Indicates whether residuals must be computed and kept.

qualityScores

private double[] qualityScores

Quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

Constructor Details

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D()

Constructor.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(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.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(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.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

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

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(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.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(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.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(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.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

Throws:

IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

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

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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

Throws:

IllegalArgumentException - if readings are not valid, quality scores is null, or length of quality scores is less than required minimum.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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

Throws:

IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 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:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than required minimum.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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

Throws:

IllegalArgumentException - if quality scores is null, or length of quality scores is less than required minimum.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 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:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than required minimum.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than required minimum.

PROSACRobustRangingRadioSourceEstimator3D

public PROSACRobustRangingRadioSourceEstimator3D(double[] qualityScores,
 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:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, quality scores is null, or length of quality scores is less than 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 solver is locked.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each pair of positions and distances (i.e. sample). 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.

Overrides:

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

Returns:

quality scores corresponding to each sample.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws com.irurueta.navigation.LockedException

Sets quality scores corresponding to each pair of positions and distances (i.e. sample). The larger the score value the better the quality of the sample. This implementation makes no action. Subclasses using quality scores must implement proper behaviour.

Overrides:

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

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

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

isReady

public boolean isReady()

Indicates whether solver is ready to find a solution.

Overrides:

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

Returns:

true if solver is ready, false otherwise.

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 solver is locked.

isComputeAndKeepResidualsEnabled

public boolean isComputeAndKeepResidualsEnabled()

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 solver is locked.

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.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided sample. This method is used internally and does not check whether instance is locked or not.

Parameters:

qualityScores - quality scores to be set.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 3 samples.