Package com.irurueta.navigation.indoor.radiosource

Class RANSACRobustRangingRadioSourceEstimator2D<S extends RadioSource>

java.lang.Object

com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator<com.irurueta.geometry.Point2D,RangingReadingLocated<S,com.irurueta.geometry.Point2D>,RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D>>

com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator<S,com.irurueta.geometry.Point2D>

com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator2D<S>

com.irurueta.navigation.indoor.radiosource.RANSACRobustRangingRadioSourceEstimator2D<S>

Type Parameters:

S - a RadioSource type.

public class RANSACRobustRangingRadioSourceEstimator2D<S extends RadioSource>
extends RobustRangingRadioSourceEstimator2D<S>

Robustly estimated 2D position of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers using RANSAC 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 on received power (RSSI) expressed in dBm's.
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 solutions.

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator2D

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
RANSACRobustRangingRadioSourceEstimator2D()	Constructor.
RANSACRobustRangingRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition)	Constructor.
RANSACRobustRangingRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
RANSACRobustRangingRadioSourceEstimator2D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> readings)	Constructor.
RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition)	Constructor.
RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> readings, com.irurueta.geometry.Point2D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)	Constructor.
RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResidualsEnabled()	Indicates whether residuals must be computed and kept.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not when testing possible solutions.

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingRadioSourceEstimator2D

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 on received power (RSSI) expressed in dBm's.

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 received power (RSSI) expressed in dBm's between received value that should have been received on estimated iso-tropical model and actual measured value.

computeAndKeepInliers

private boolean computeAndKeepInliers

Indicates whether inliers must be computed and kept.

computeAndKeepResiduals

private boolean computeAndKeepResiduals

Indicates whether residuals must be computed and kept.

Constructor Details

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D()

Constructor.

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> 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.

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

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

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition)

Constructor.

Parameters:

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

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D 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.

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D(com.irurueta.geometry.Point2D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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.

RANSACRobustRangingRadioSourceEstimator2D

public RANSACRobustRangingRadioSourceEstimator2D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point2D>> readings,
 com.irurueta.geometry.Point2D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point2D> 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()

Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on ranging distances.

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 ranging distances.

Parameters:

threshold - threshold to determine whether samples are inliers or not.

Throws:

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

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

isComputeAndKeepInliersEnabled

public boolean isComputeAndKeepInliersEnabled()

Indicates whether inliers must be computed and kept.

Returns:

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

setComputeAndKeepInliersEnabled

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

Specifies whether inliers must be computed and kept.

Parameters:

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

Throws:

com.irurueta.navigation.LockedException - if this 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.Point2D,RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point2D>,RobustRangingRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point2D>>

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.Point2D>

Returns:

method being used for robust estimation.