Package com.irurueta.navigation.indoor.radiosource

Class RobustRangingRadioSourceEstimator3D<S extends RadioSource>

java.lang.Object

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

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

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

Type Parameters:

S - a RadioSource type.

Direct Known Subclasses:

LMedSRobustRangingRadioSourceEstimator3D, MSACRobustRangingRadioSourceEstimator3D, PROMedSRobustRangingRadioSourceEstimator3D, PROSACRobustRangingRadioSourceEstimator3D, RANSACRobustRangingRadioSourceEstimator3D

public abstract class RobustRangingRadioSourceEstimator3D<S extends RadioSource>
extends RobustRangingRadioSourceEstimator<S,com.irurueta.geometry.Point3D>

This is an abstract class to robustly estimate 3D position of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding outliers.

Nested Class Summary

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

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

Field Summary

Fields

Modifier and Type	Field	Description
protected final RangingRadioSourceEstimator3D<S>	innerEstimator	Radio source estimator used internally.
private final List<RangingReadingLocated<S,com.irurueta.geometry.Point3D>>	innerReadings	Subset of readings used by inner estimator.

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

DEFAULT_USE_READING_POSITION_COVARIANCES, initialPosition, useReadingPositionCovariances

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

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

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	RobustRangingRadioSourceEstimator3D()	Constructor.
protected	RobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)	Constructor.
protected	RobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
protected	RobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
protected	RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)	Constructor.
protected	RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition)	Constructor.
protected	RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.
protected	RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected void	attemptRefine(RobustRangingRadioSourceEstimator.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> RobustRangingRadioSourceEstimator3D<S>	create(double[] qualityScores, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<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> RobustRangingRadioSourceEstimator3D<S>	create(double[] qualityScores, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(double[] qualityScores, List<? extends RangingReadingLocated<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> RobustRangingRadioSourceEstimator3D<S>	create(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(double[] qualityScores, List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<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> RobustRangingRadioSourceEstimator3D<S>	create(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.geometry.Point3D initialPosition, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(List<? extends RangingReadingLocated<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> RobustRangingRadioSourceEstimator3D<S>	create(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
static <S extends RadioSource> RobustRangingRadioSourceEstimator3D<S>	create(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 3D position radio source estimator.
RadioSourceLocated<com.irurueta.geometry.Point3D>	getEstimatedRadioSource()	Gets estimated located radio source.
int	getMinReadings()	Gets minimum required number of readings to estimate position of radio source, which is 4 readings.
int	getNumberOfDimensions()	Gets number of dimensions of position points.
boolean	isHomogeneousLinearSolverUsed()	Indicates whether an homogeneous linear solver is used to estimate an initial position.
void	setHomogeneousLinearSolverUsed(boolean useHomogeneousLinearSolver)	Specifies whether an homogeneous linear solver is used to estimate an initial position.
protected void	solvePreliminarySolutions(int[] samplesIndices, List<RobustRangingRadioSourceEstimator.Solution<com.irurueta.geometry.Point3D>> solutions)	Solves preliminary solution for a subset of samples.

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

getInitialPosition, getMethod, getUseReadingPositionCovariance, isReady, residual, setInitialPosition, 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 RangingRadioSourceEstimator3D<S extends RadioSource> innerEstimator

Radio source estimator used internally.

innerReadings

private final List<RangingReadingLocated<S extends RadioSource,com.irurueta.geometry.Point3D>> innerReadings

Subset of readings used by inner estimator.

Constructor Details

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D()

Constructor.

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings)

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

Parameters:

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

Throws:

IllegalArgumentException - if readings are not valid.

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D(RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

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

Parameters:

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

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

Throws:

IllegalArgumentException - if readings are not valid.

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

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

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition)

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

Parameters:

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

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

Throws:

IllegalArgumentException - if readings are not valid.

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D(com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

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

RobustRangingRadioSourceEstimator3D

protected RobustRangingRadioSourceEstimator3D(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<S,com.irurueta.geometry.Point3D> listener)

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

Parameters:

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

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

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

Throws:

IllegalArgumentException - if readings are not valid.

Method Details

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<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>
RobustRangingRadioSourceEstimator3D<S> create(List<? extends RangingReadingLocated<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 - radio signal ranging readings belonging to the same radio source.

method - robust estimator method.

Returns:

a new robust 3D position radio source estimator.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<S> create(RobustRangingRadioSourceEstimatorListener<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>
RobustRangingRadioSourceEstimator3D<S> create(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RobustRangingRadioSourceEstimatorListener<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 - radio signal ranging 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.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<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 or radio source position.

method - robust estimator method.

Returns:

a new robust 3D position radio source estimator.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<S> create(List<? extends RangingReadingLocated<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 - radio signal ranging readings belonging to the same radio source.

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

method - robust estimator method.

Returns:

a new robust 3D position radio source estimator.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<S> create(com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<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 or 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>
RobustRangingRadioSourceEstimator3D<S> create(List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<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 - radio signal ranging readings belonging to the same radio source.

initialPosition - initial position to start the estimation or 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>
RobustRangingRadioSourceEstimator3D<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>
RobustRangingRadioSourceEstimator3D<S> create(double[] qualityScores,
 List<? extends RangingReadingLocated<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 - radio signal ranging readings belonging to the same radio source.

method - robust estimator method.

Returns:

a new robust 3D position radio source estimator.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<S> create(double[] qualityScores,
 RobustRangingRadioSourceEstimatorListener<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>
RobustRangingRadioSourceEstimator3D<S> create(double[] qualityScores,
 List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 RobustRangingRadioSourceEstimatorListener<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 - radio signal ranging 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.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<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 or radio source position.

method - robust estimator method.

Returns:

a new robust 3D position radio source estimator.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<S> create(double[] qualityScores,
 List<? extends RangingReadingLocated<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 - radio signal ranging readings belonging to the same radio source.

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

method - robust estimator method.

Returns:

a new robust 3D position radio source estimator.

create

public static <S extends RadioSource>
RobustRangingRadioSourceEstimator3D<S> create(double[] qualityScores,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<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 or 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>
RobustRangingRadioSourceEstimator3D<S> create(double[] qualityScores,
 List<? extends RangingReadingLocated<S,com.irurueta.geometry.Point3D>> readings,
 com.irurueta.geometry.Point3D initialPosition,
 RobustRangingRadioSourceEstimatorListener<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 - radio signal ranging readings belonging to the same radio source.

initialPosition - initial position to start the estimation or 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.

getMinReadings

public int getMinReadings()

Gets minimum required number of readings to estimate position of radio source, which is 4 readings.

Specified by:

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

Returns:

minimum required number of readings.

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of position points. This is always 3.

Specified by:

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

Returns:

number of dimensions of position points.

getEstimatedRadioSource

public RadioSourceLocated<com.irurueta.geometry.Point3D> getEstimatedRadioSource()

Gets estimated located radio source.

Specified by:

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

Returns:

estimated located radio source or null.

isHomogeneousLinearSolverUsed

public boolean isHomogeneousLinearSolverUsed()

Indicates whether an homogeneous linear solver is used to estimate an initial position.

Specified by:

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

Returns:

true if homogeneous linear solver is used, false if an inhomogeneous linear one is used instead.

setHomogeneousLinearSolverUsed

public void setHomogeneousLinearSolverUsed(boolean useHomogeneousLinearSolver)
                                    throws com.irurueta.navigation.LockedException

Specifies whether an homogeneous linear solver is used to estimate an initial position.

Specified by:

setHomogeneousLinearSolverUsed in class RobustRangingRadioSourceEstimator<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.

solvePreliminarySolutions

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

Solves preliminary solution for a subset of samples.

Specified by:

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

Parameters:

samplesIndices - indices of subset samples.

solutions - instance where solution will be stored.

attemptRefine

protected void attemptRefine(RobustRangingRadioSourceEstimator.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.