com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D>>

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

com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator3D<S>

Type Parameters:: S - a RadioSource type.

Direct Known Subclasses:: LMedSRobustRangingAndRssiRadioSourceEstimator3D, MSACRobustRangingAndRssiRadioSourceEstimator3D, PROMedSRobustRangingAndRssiRadioSourceEstimator3D, PROSACRobustRangingAndRssiRadioSourceEstimator3D, RANSACRobustRangingAndRssiRadioSourceEstimator3D

public abstract class RobustRangingAndRssiRadioSourceEstimator3D<S extends RadioSource> extends RobustRangingAndRssiRadioSourceEstimator<S,com.irurueta.geometry.Point3D>

This is an abstract class to robustly estimate 3D position, transmitted power and path-loss exponent of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers and assuming that the ranging data is available to obtain position with greater accuracy and that the radio source emits isotropically following the expression below: Pr = Pt*Gt*Gr*lambda^2 / (4*pi*d)^2, where Pr is the received power (expressed in mW), Gt is the Gain of the transmission antenna Gr is the Gain of the receiver antenna d is the distance between emitter and receiver and lambda is the wavelength and is equal to: lambda = c / f, where c is the speed of light and f is the carrier frequency of the radio signal. Because usually information about the antenna of the radio source cannot be retrieved (because many measurements are made on unknown devices where physical access is not possible), this implementation will estimate the equivalent transmitted power as: Pte = Pt * Gt * Gr. If Readings contain RSSI standard deviations, those values will be used, otherwise it will be assumed an RSSI standard deviation of 1 dB.

Although RobustRssiRadioSourceEstimator can estimate the same parameters of a radio source, when ranging measures are available along with RSSI measurements, implementations of this class should be preferred instead as they can provide greater accuracy.

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator
RobustRangingAndRssiRadioSourceEstimator.Solution<P extends com.irurueta.geometry.Point<?>>
Field Summary

Fields

Modifier and Type

Field

Description

protected final RangingAndRssiRadioSourceEstimator3D<S>

innerEstimator

Radio source estimator used internally.

private final List<RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>>

innerReadings

Subset of readings used by inner estimator.

Fields inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator
DEFAULT_USE_READING_POSITION_COVARIANCES, estimatedPathLossExponent, estimatedPathLossExponentVariance, estimatedTransmittedPowerdBm, estimatedTransmittedPowerVariance, initialPathLossExponent, initialPosition, initialTransmittedPowerdBm, pathLossEstimationEnabled, transmittedPowerEstimationEnabled, 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

Modifier

Constructor

Description

protected

RobustRangingAndRssiRadioSourceEstimator3D()

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)

Constructor.

protected

RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.
Method Summary

Modifier and Type

Method

Description

protected void

attemptRefine(RobustRangingAndRssiRadioSourceEstimator.Solution<com.irurueta.geometry.Point3D> result)

Attempts to refine estimated position and transmitted power contained in provided solution if refinement is requested.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create()

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

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

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Creates a robust 3D position radio source estimator using default method.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S>

create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 3D position radio source estimator.

RadioSourceWithPowerAndLocated<com.irurueta.geometry.Point3D>

getEstimatedRadioSource()

Gets estimated located radio source with estimated transmitted power.

int

getMinReadings()

Gets minimum required number of readings to estimate power, position and path-loss exponent.

int

getNumberOfDimensions()

Gets number of dimensions of position points.

boolean

isHomogeneousRangingLinearSolverUsed()

Indicates whether an homogeneous linear solver is used to estimate an initial position for the internal ranging radio source estimator.

void

setHomogeneousRangingLinearSolverUsed(boolean useHomogeneousLinearSolver)

Specifies whether an homogeneous linear solver is used to estimate an initial position for the internal ranging radio source estimator.

protected void

solvePreliminarySolutions(int[] samplesIndices, List<RobustRangingAndRssiRadioSourceEstimator.Solution<com.irurueta.geometry.Point3D>> solutions)

Solves preliminary solution for a subset of samples.

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRangingAndRssiRadioSourceEstimator
getEstimatedPathLossExponent, getEstimatedPathLossExponentVariance, getEstimatedTransmittedPower, getEstimatedTransmittedPowerdBm, getEstimatedTransmittedPowerVariance, getInitialPathLossExponent, getInitialPosition, getInitialTransmittedPower, getInitialTransmittedPowerdBm, getMethod, getUseReadingPositionCovariance, isPathLossEstimationEnabled, isReady, isTransmittedPowerEstimationEnabled, residual, setInitialPathLossExponent, setInitialPosition, setInitialTransmittedPower, setInitialTransmittedPowerdBm, setPathLossEstimationEnabled, setTransmittedPowerEstimationEnabled, setUseReadingPositionCovariances

Methods inherited from class com.irurueta.navigation.indoor.radiosource.RobustRadioSourceEstimator
areValidReadings, estimate, 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
- innerEstimator
  
  protected final RangingAndRssiRadioSourceEstimator3D<S extends RadioSource> innerEstimator
  
  Radio source estimator used internally.
- innerReadings
  
  private final List<RangingAndRssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>> innerReadings
  
  Subset of readings used by inner estimator.
Constructor Details
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D()
  
  Constructor.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor.
  
  Parameters:
  
  listener - listener in charge of attending events raised by this instance.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - 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.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - 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.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)
  
  Constructor.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<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.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - signal 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.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm)
  
  Constructor.
  
  Parameters:
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - Wi-Fi signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor.
  
  Parameters:
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - Wi-Fi signal readings belonging to the radio source point.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
  
  Constructor.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
  
  Constructor.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
- RobustRangingAndRssiRadioSourceEstimator3D
  
  protected RobustRangingAndRssiRadioSourceEstimator3D(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Constructor. Sets signal readings belonging to the same radio source.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
Method Details
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal 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
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D radio source power and position estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D radio source power and position estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal 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
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of access point transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)
  
  Creates a robust 3D position radio source estimator.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  method - robust estimator method.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create()
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal 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
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal 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
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's)
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  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.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
- create
  
  public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(double[] qualityScores, List<? extends RangingAndRssiReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, Double initialTransmittedPowerdBm, double initialPathLossExponent, RobustRangingAndRssiRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)
  
  Creates a robust 3D position radio source estimator using default method.
  
  Type Parameters:
  
  S - a RadioSource type.
  
  Parameters:
  
  qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
  
  readings - signal readings belonging to the same radio source.
  
  initialPosition - initial position to start the estimation of radio source position.
  
  initialTransmittedPowerdBm - initial transmitted power to start the estimation of radio source transmitted power (expressed in dBm's).
  
  initialPathLossExponent - initial path loss exponent. A typical value is 2.0.
  
  listener - listener in charge of attending events raised by this instance.
  
  Returns:
  
  a new robust 3D position radio source estimator.
  
  Throws:
  
  IllegalArgumentException - if readings are not valid.
- isHomogeneousRangingLinearSolverUsed
  
  public boolean isHomogeneousRangingLinearSolverUsed()
  
  Indicates whether an homogeneous linear solver is used to estimate an initial position for the internal ranging radio source estimator.
  
  Specified by:
  
  isHomogeneousRangingLinearSolverUsed in class RobustRangingAndRssiRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>
  
  Returns:
  
  true if homogeneous linear solver is used, false if an inhomogeneous linear one is used instead.
- setHomogeneousRangingLinearSolverUsed
  
  public void setHomogeneousRangingLinearSolverUsed(boolean useHomogeneousLinearSolver) throws com.irurueta.navigation.LockedException
  
  Specifies whether an homogeneous linear solver is used to estimate an initial position for the internal ranging radio source estimator.
  
  Specified by:
  
  setHomogeneousRangingLinearSolverUsed in class RobustRangingAndRssiRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>
  
  Parameters:
  
  useHomogeneousLinearSolver - true if homogeneous linear solver is used, false if an inhomogeneous linear one is used instead.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if estimator is locked.
- getMinReadings
  
  public int getMinReadings()
  
  Gets minimum required number of readings to estimate power, position and path-loss exponent. This value depends on the number of parameters to be estimated, but for position only, this is 3 readings.
  
  Specified by:
  
  getMinReadings in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>
  
  Returns:
  
  minimum required number of readings.
- getNumberOfDimensions
  
  public int getNumberOfDimensions()
  
  Gets number of dimensions of position points.
  
  Specified by:
  
  getNumberOfDimensions in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>
  
  Returns:
  
  always returns 2 dimensions.
- getEstimatedRadioSource
  
  public RadioSourceWithPowerAndLocated<com.irurueta.geometry.Point3D> getEstimatedRadioSource()
  
  Gets estimated located radio source with estimated transmitted power.
  
  Specified by:
  
  getEstimatedRadioSource in class RobustRadioSourceEstimator<com.irurueta.geometry.Point3D,RangingAndRssiReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>,RobustRangingAndRssiRadioSourceEstimatorListener<S extends RadioSource,com.irurueta.geometry.Point3D>>
  
  Returns:
  
  estimated located radio source with estimated transmitted power or null.
- solvePreliminarySolutions
  
  protected void solvePreliminarySolutions(int[] samplesIndices, List<RobustRangingAndRssiRadioSourceEstimator.Solution<com.irurueta.geometry.Point3D>> solutions)
  
  Solves preliminary solution for a subset of samples.
  
  Specified by:
  
  solvePreliminarySolutions in class RobustRangingAndRssiRadioSourceEstimator<S extends RadioSource,com.irurueta.geometry.Point3D>
  
  Parameters:
  
  samplesIndices - indices of subset samples.
  
  solutions - instance where solution will be stored.
- attemptRefine
  
  protected void attemptRefine(RobustRangingAndRssiRadioSourceEstimator.Solution<com.irurueta.geometry.Point3D> result)
  
  Attempts to refine estimated position and transmitted power contained in provided solution if refinement is requested. This method sets a refined result and transmitted power or provided input result if refinement is not requested or has failed. If refinement is enabled, and it is requested to keep covariance, this method will also keep covariance of refined result. solution if not requested or refinement failed.
  
  Parameters:
  
  result - result to be refined.

Class RobustRangingAndRssiRadioSourceEstimator3D<S extends RadioSource>

Nested Class Summary

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

Field Summary

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

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

Constructor Summary

Method Summary

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

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

Methods inherited from class java.lang.Object

Field Details

innerEstimator

innerReadings

Constructor Details

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

RobustRangingAndRssiRadioSourceEstimator3D

Method Details

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