PROSACRobustRssiPositionEstimator2D.java
/*
* Copyright (C) 2019 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.position;
import com.irurueta.geometry.Point2D;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceLocated;
import com.irurueta.navigation.indoor.RssiFingerprint;
import com.irurueta.navigation.indoor.RssiReading;
import com.irurueta.navigation.lateration.PROSACRobustLateration2DSolver;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Robustly estimates 2D position using located radio sources and their RSSI readings at
* unknown locations and using PROSAC algorithm to discard outliers.
* This kind of estimator can be used to robustly determine the 2D position of a given
* device by getting RSSI readings at an unknown location of different radio sources whose
* 2D locations are known.
*/
public class PROSACRobustRssiPositionEstimator2D extends RobustRssiPositionEstimator2D {
/**
* Quality scores corresponding to each provided located radio source.
* The larger the score value the better the quality of the radio source.
*/
private double[] sourceQualityScores;
/**
* Quality scores corresponding to each reading within provided fingerprint.
* The larger the score value the better the quality of the reading.
*/
private double[] fingerprintReadingsQualityScores;
/**
* Constructor.
*/
public PROSACRobustRssiPositionEstimator2D() {
super();
init();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(final List<? extends RadioSourceLocated<Point2D>> sources) {
super();
init();
internalSetSources(sources);
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing RSSI readings at an unknown location for
* provided located radio sources.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROSACRobustRssiPositionEstimator2D(
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
super();
init();
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided located radio sources.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
super();
init();
internalSetSources(sources);
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param listener listener in charge of handling events.
*/
public PROSACRobustRssiPositionEstimator2D(final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(
final List<? extends RadioSourceLocated<Point2D>> sources,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
internalSetSources(sources);
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided location radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROSACRobustRssiPositionEstimator2D(
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided located radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if either provided sources or fingerprint is
* null or the number of provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
super(listener);
init();
internalSetSources(sources);
internalSetFingerprint(fingerprint);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores) {
this();
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources) {
this(sources);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param fingerprint fingerprint containing RSSI readings at an
* unknown location for provided located
* radio sources.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
this(fingerprint);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @param fingerprint fingerprint containing RSSI readings at an
* unknown location for provided located
* radio sources.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint) {
this(sources, fingerprint);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param listener listener in charge of handling events.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(sources, listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param fingerprint fingerprint containing RSSI readings at an
* unknown location for provided location
* radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(fingerprint, listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Constructor.
*
* @param sourceQualityScores quality scores corresponding to
* each provided located radio source.
* The larger the score value the better
* the quality of the radio source.
* @param fingerprintReadingQualityScores quality scores corresponding to readings
* within provided fingerprint. The larger
* the score the better the quality of the
* reading.
* @param sources located radio sources used for
* lateration.
* @param fingerprint fingerprint containing RSSI readings at an
* unknown location for provided located
* radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if either provided sources or fingerprint is
* null or the number of provided sources is less than the required minimum.
*/
public PROSACRobustRssiPositionEstimator2D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point2D>> sources,
final RssiFingerprint<? extends RadioSource, ? extends RssiReading<? extends RadioSource>> fingerprint,
final RobustRssiPositionEstimatorListener<Point2D> listener) {
this(sources, fingerprint, listener);
internalSetSourceQualityScores(sourceQualityScores);
internalSetFingerprintReadingsQualityScores(fingerprintReadingQualityScores);
}
/**
* Returns quality scores corresponding to each radio source.
* The larger the score value the better the quality of the sample.
*
* @return quality scores corresponding to each radio source.
*/
@Override
public double[] getSourceQualityScores() {
return sourceQualityScores;
}
/**
* Sets quality scores corresponding to each radio source.
* The larger the score value the better the quality of the radio source.
*
* @param sourceQualityScores quality scores corresponding to each radio source.
* @throws LockedException if this instance is locked.
* @throws IllegalArgumentException if provided quality scores length is smaller
* than minimum required samples.
*/
@Override
public void setSourceQualityScores(final double[] sourceQualityScores) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetSourceQualityScores(sourceQualityScores);
}
/**
* Gets quality scores corresponding to each reading within provided fingerprint.
* The larger the score value the better the quality of the reading.
* This implementation always returns null.
* Subclasses using quality scores must implement proper behavior.
*
* @return quality scores corresponding to each reading within provided
* fingerprint.
*/
@Override
public double[] getFingerprintReadingsQualityScores() {
return fingerprintReadingsQualityScores;
}
/**
* Sets quality scores corresponding to each reading within provided fingerprint.
* The larger the score value the better the quality of the reading.
* This implementation makes no action.
* Subclasses using quality scores must implement proper behavior.
*
* @param fingerprintReadingsQualityScores quality scores corresponding to each
* reading within provided fingerprint.
* @throws LockedException if this instance is locked.
* @throws IllegalArgumentException if provided quality scores length is smaller
* than minimum required samples.
*/
@Override
public void setFingerprintReadingsQualityScores(final double[] fingerprintReadingsQualityScores)
throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetFingerprintReadingsQualityScores(fingerprintReadingsQualityScores);
}
/**
* Gets threshold to determine whether samples are inliers or not when testing possible solutions.
* The threshold refers to the amount of error on distance between estimated position and distances
* provided for each sample.
*
* @return threshold to determine whether samples are inliers or not.
*/
public double getThreshold() {
return ((PROSACRobustLateration2DSolver) laterationSolver).getThreshold();
}
/**
* Sets threshold to determine whether samples are inliers or not when testing possible solutions.
* The threshold refers to the amount of error on distance between estimated position and distances
* provided for each sample.
*
* @param threshold threshold to determine whether samples are inliers or not.
* @throws IllegalArgumentException if provided value is equal or less than zero.
* @throws LockedException if this solver is locked.
*/
public void setThreshold(final double threshold) throws LockedException {
((PROSACRobustLateration2DSolver) laterationSolver).setThreshold(threshold);
}
/**
* Indicates whether inliers must be computed and kept.
*
* @return true if inliers must be computed and kept, false if inliers
* only need to be computed but not kept.
*/
public boolean isComputeAndKeepInliersEnabled() {
return ((PROSACRobustLateration2DSolver) laterationSolver).isComputeAndKeepInliersEnabled();
}
/**
* Specifies whether inliers must be computed and kept.
*
* @param computeAndKeepInliers true if inliers must be computed and kept,
* false if inliers only need to be computed but not kept.
* @throws LockedException if this solver is locked.
*/
public void setComputeAndKeepInliersEnabled(final boolean computeAndKeepInliers) throws LockedException {
((PROSACRobustLateration2DSolver) laterationSolver).setComputeAndKeepInliersEnabled(computeAndKeepInliers);
}
/**
* Indicates whether residuals must be computed and kept.
*
* @return true if residuals must be computed and kept, false if residuals
* only need to be computed but not kept.
*/
public boolean isComputeAndKeepResiduals() {
return ((PROSACRobustLateration2DSolver) laterationSolver).isComputeAndKeepResiduals();
}
/**
* Specifies whether residuals must be computed and kept.
*
* @param computeAndKeepResiduals true if residuals must be computed and kept,
* false if residuals only need to be computed but not kept.
* @throws LockedException if this solver is locked.
*/
public void setComputeAndKeepResidualsEnabled(final boolean computeAndKeepResiduals) throws LockedException {
((PROSACRobustLateration2DSolver) laterationSolver).setComputeAndKeepResidualsEnabled(computeAndKeepResiduals);
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.PROSAC;
}
/**
* Initializes robust lateration solver.
*/
private void init() {
laterationSolver = new PROSACRobustLateration2DSolver(trilaterationSolverListener);
}
/**
* Sets quality scores corresponding to each provided located radio source.
* This method is used internally and does not check whether instance is
* locked or not.
*
* @param sourceQualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than 3 samples.
*/
private void internalSetSourceQualityScores(final double[] sourceQualityScores) {
if (sourceQualityScores == null || sourceQualityScores.length < getMinRequiredSources()) {
throw new IllegalArgumentException();
}
this.sourceQualityScores = sourceQualityScores;
buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
}
/**
* Sets quality scores corresponding to each provided reading within provided
* fingerprint.
* This method is used internally and does not check whether instance is locked
* or not.
*
* @param fingerprintReadingsQualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length is
* smaller than 3 samples.
*/
private void internalSetFingerprintReadingsQualityScores(final double[] fingerprintReadingsQualityScores) {
if (fingerprintReadingsQualityScores == null
|| fingerprintReadingsQualityScores.length < getMinRequiredSources()) {
throw new IllegalArgumentException();
}
this.fingerprintReadingsQualityScores = fingerprintReadingsQualityScores;
buildPositionsDistancesDistanceStandardDeviationsAndQualityScores();
}
}