NonLinearFingerprintPositionEstimator3D.java
/*
* Copyright (C) 2018 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.indoor.fingerprint;
import com.irurueta.geometry.InhomogeneousPoint3D;
import com.irurueta.geometry.Point3D;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceLocated;
import com.irurueta.navigation.indoor.RssiFingerprint;
import com.irurueta.navigation.indoor.RssiFingerprintLocated;
import com.irurueta.navigation.indoor.RssiReading;
import java.util.List;
/**
* 3D position estimator based on located fingerprints containing only RSSI readings and
* having as well prior knowledge of the location of radio sources associated to those
* readings.
* This is a base implementation for all implementations using different orders of
* Taylor approximation to estimate position.
*/
@SuppressWarnings("DuplicatedCode")
public abstract class NonLinearFingerprintPositionEstimator3D extends NonLinearFingerprintPositionEstimator<Point3D> {
/**
* Constructor.
*/
protected NonLinearFingerprintPositionEstimator3D() {
}
/**
* Constructor.
*
* @param listener listener in charge of handling events.
*/
protected NonLinearFingerprintPositionEstimator3D(final FingerprintPositionEstimatorListener<Point3D> listener) {
super(listener);
}
/**
* Constructor.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
protected NonLinearFingerprintPositionEstimator3D(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources) {
super(locatedFingerprints, fingerprint, sources);
}
/**
* Constructor.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
protected NonLinearFingerprintPositionEstimator3D(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources,
final FingerprintPositionEstimatorListener<Point3D> listener) {
super(locatedFingerprints, fingerprint, sources, listener);
}
/**
* Constructor.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param initialPosition initial position to start the solving algorithm or null.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
protected NonLinearFingerprintPositionEstimator3D(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources, Point3D initialPosition) {
super(locatedFingerprints, fingerprint, sources, initialPosition);
}
/**
* Constructor.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param initialPosition initial position to start the solving algorithm or null.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 2D position estimation at least 2
* located total readings are required among all fingerprints, for example 2
* readings are required in a single fingerprint, or at least 2 fingerprints at
* different locations containing a single reading are required. For 3D position
* estimation 3 located total readings are required among all fingerprints).
*/
protected NonLinearFingerprintPositionEstimator3D(
final List<? extends RssiFingerprintLocated<
? extends RadioSource, ? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources, Point3D initialPosition,
final FingerprintPositionEstimatorListener<Point3D> listener) {
super(locatedFingerprints, fingerprint, sources, initialPosition, listener);
}
/**
* Gets number of dimensions of points.
*
* @return number of dimensions of points.
*/
@Override
public int getNumberOfDimensions() {
return Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH;
}
/**
* Gets estimated position or null if not available yet.
*
* @return estimated position or null.
*/
@Override
public Point3D getEstimatedPosition() {
if (estimatedPositionCoordinates == null) {
return null;
}
final var result = new InhomogeneousPoint3D();
getEstimatedPosition(result);
return result;
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param type type to be used.
* @return a non-linear 3D position estimator.
*/
public static NonLinearFingerprintPositionEstimator3D create(final NonLinearFingerprintPositionEstimatorType type) {
return switch (type) {
case THIRD_ORDER -> new ThirdOrderNonLinearFingerprintPositionEstimator3D();
case SECOND_ORDER -> new SecondOrderNonLinearFingerprintPositionEstimator3D();
default -> new FirstOrderNonLinearFingerprintPositionEstimator3D();
};
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param listener listener in charge of handling events.
* @param type a non-linear 3D position estimator.
* @return a non-linear 3D position estimator.
*/
public static NonLinearFingerprintPositionEstimator3D create(
final FingerprintPositionEstimatorListener<Point3D> listener,
final NonLinearFingerprintPositionEstimatorType type) {
return switch (type) {
case THIRD_ORDER -> new ThirdOrderNonLinearFingerprintPositionEstimator3D(listener);
case SECOND_ORDER -> new SecondOrderNonLinearFingerprintPositionEstimator3D(listener);
default -> new FirstOrderNonLinearFingerprintPositionEstimator3D(listener);
};
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param type a non-linear 3D position estimator.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources,
final NonLinearFingerprintPositionEstimatorType type) {
return switch (type) {
case THIRD_ORDER -> new ThirdOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources);
case SECOND_ORDER -> new SecondOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources);
default -> new FirstOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources);
};
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param listener listener in charge of handling events.
* @param type a non-linear 3D position estimator.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources,
final FingerprintPositionEstimatorListener<Point3D> listener,
final NonLinearFingerprintPositionEstimatorType type) {
return switch (type) {
case THIRD_ORDER -> new ThirdOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, listener);
case SECOND_ORDER -> new SecondOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, listener);
default -> new FirstOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, listener);
};
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param initialPosition initial position to start the solving algorithm or null.
* @param type a non-linear 3D position estimator.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources,
final Point3D initialPosition, NonLinearFingerprintPositionEstimatorType type) {
return switch (type) {
case THIRD_ORDER -> new ThirdOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, initialPosition);
case SECOND_ORDER -> new SecondOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, initialPosition);
default -> new FirstOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, initialPosition);
};
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param initialPosition initial position to start the solving algorithm or null.
* @param listener listener in charge of handling events.
* @param type a non-linear 3D position estimator.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<
? extends RadioSource, ? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources, Point3D initialPosition,
final FingerprintPositionEstimatorListener<Point3D> listener,
final NonLinearFingerprintPositionEstimatorType type) {
return switch (type) {
case THIRD_ORDER -> new ThirdOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, initialPosition, listener);
case SECOND_ORDER -> new SecondOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, initialPosition, listener);
default -> new FirstOrderNonLinearFingerprintPositionEstimator3D(
locatedFingerprints, fingerprint, sources, initialPosition, listener);
};
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @return a non-linear 3D position estimator.
*/
public static NonLinearFingerprintPositionEstimator3D create() {
return create(DEFAULT_TYPE);
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param listener listener in charge of handling events.
* @return a non-linear 3D position estimator.
*/
public static NonLinearFingerprintPositionEstimator3D create(
final FingerprintPositionEstimatorListener<Point3D> listener) {
return create(listener, DEFAULT_TYPE);
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources) {
return create(locatedFingerprints, fingerprint, sources, DEFAULT_TYPE);
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param listener listener in charge of handling events.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources,
final FingerprintPositionEstimatorListener<Point3D> listener) {
return create(locatedFingerprints, fingerprint, sources, listener, DEFAULT_TYPE);
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param initialPosition initial position to start the solving algorithm or null.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<? extends RadioSource,
? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources,
final Point3D initialPosition) {
return create(locatedFingerprints, fingerprint, sources, initialPosition, DEFAULT_TYPE);
}
/**
* Creates an instance of a non-linear 3D position estimator using provided type.
*
* @param locatedFingerprints located fingerprints containing RSSI readings.
* @param fingerprint fingerprint containing readings at an unknown location
* for provided located fingerprints.
* @param sources located radio sources.
* @param initialPosition initial position to start the solving algorithm or null.
* @param listener listener in charge of handling events.
* @return a non-linear 3D position estimator.
* @throws IllegalArgumentException if provided non located fingerprint is null,
* located fingerprints value is null or there are not enough fingerprints or
* readings within provided fingerprints (for 3D position estimation 3 located
* total readings are required among all fingerprints).
*/
public static NonLinearFingerprintPositionEstimator3D create(
final List<? extends RssiFingerprintLocated<
? extends RadioSource, ? extends RssiReading<? extends RadioSource>, Point3D>> locatedFingerprints,
final RssiFingerprint<? extends RadioSource,
? extends RssiReading<? extends RadioSource>> fingerprint,
final List<? extends RadioSourceLocated<Point3D>> sources, Point3D initialPosition,
final FingerprintPositionEstimatorListener<Point3D> listener) {
return create(locatedFingerprints, fingerprint, sources, initialPosition, listener, DEFAULT_TYPE);
}
}