RobustRangingPositionEstimator3D.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.InhomogeneousPoint3D;
import com.irurueta.geometry.Point3D;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceLocated;
import com.irurueta.navigation.indoor.RangingFingerprint;
import com.irurueta.navigation.indoor.RangingReading;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Base class for robust ranging 3D position estimators using located radio sources and
* their ranging readings at unknown locations.
* These kind of estimators can be used to robustly determine the 3D position of a given
* device by getting ranging readings at an unknown location of different radio sources
* whose locations are known.
* Implementations of this class should be able to detect and discard outliers in order
* to find the best solution.
*/
@SuppressWarnings("DuplicatedCode")
public abstract class RobustRangingPositionEstimator3D extends RobustRangingPositionEstimator<Point3D> {
/**
* Constructor.
*/
protected RobustRangingPositionEstimator3D() {
super();
preliminarySubsetSize = getMinRequiredSources();
}
/**
* Constructor.
*
* @param listener listener in charge of handling events.
*/
protected RobustRangingPositionEstimator3D(final RobustRangingPositionEstimatorListener<Point3D> listener) {
super(listener);
preliminarySubsetSize = getMinRequiredSources();
}
/**
* Gets minimum required number of located radio sources to perform lateration.
*
* @return minimum required number of located radio sources to perform lateration.
*/
@Override
public int getMinRequiredSources() {
return Point3D.POINT3D_HOMOGENEOUS_COORDINATES_LENGTH;
}
/**
* Creates a robust 3D position estimator.
*
* @param method robust estimator method.
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create(final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D();
case LMEDS -> new LMedSRobustRangingPositionEstimator3D();
case MSAC -> new MSACRobustRangingPositionEstimator3D();
case PROSAC -> new PROSACRobustRangingPositionEstimator3D();
default -> new PROMedSRobustRangingPositionEstimator3D();
};
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final List<? extends RadioSourceLocated<Point3D>> sources, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources);
default -> new PROMedSRobustRangingPositionEstimator3D(sources);
};
}
/**
* Creates a robust 3D position estimator.
*
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint);
case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(fingerprint);
default -> new PROMedSRobustRangingPositionEstimator3D(fingerprint);
};
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources, fingerprint);
default -> new PROMedSRobustRangingPositionEstimator3D(sources, fingerprint);
};
}
/**
* Creates a robust 3D position estimator.
*
* @param listener listener in charge of handling events.
* @param method robust estimator method.
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create(
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(listener);
default -> new PROMedSRobustRangingPositionEstimator3D(listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @param listener listener in charge of handling events.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources, listener);
default -> new PROMedSRobustRangingPositionEstimator3D(sources, listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @param listener listener in charge of handling events.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint, listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint, listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint, listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(fingerprint, listener);
default -> new PROMedSRobustRangingPositionEstimator3D(fingerprint, listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @param listener listener in charge of handling events.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint, listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
default -> new PROMedSRobustRangingPositionEstimator3D(sources, fingerprint, listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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 method robust estimator method.
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D();
case LMEDS -> new LMedSRobustRangingPositionEstimator3D();
case MSAC -> new MSACRobustRangingPositionEstimator3D();
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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 method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores, sources);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
sources);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint);
case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores, fingerprint);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
fingerprint);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores, sources, fingerprint);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
sources, fingerprint);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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.
* @param method robust estimator method.
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores, listener);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores, sources, listener);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
sources, listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @param listener listener in charge of handling events.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint, listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint, listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint, listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores, fingerprint, listener);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
fingerprint, listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @param listener listener in charge of handling events.
* @param method robust estimator method.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint, listener);
case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
fingerprintReadingQualityScores, sources, fingerprint, listener);
default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
sources, fingerprint, listener);
};
}
/**
* Creates a robust 3D position estimator.
*
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create() {
return create(DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(final List<? extends RadioSourceLocated<Point3D>> sources) {
return create(sources, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint) {
return create(fingerprint, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint) {
return create(sources, fingerprint, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @param listener listener in charge of handling events.
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create(
final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @param listener listener in charge of handling events.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(sources, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @param listener listener in charge of handling events.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(fingerprint, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing ranging readings at an unknown
* location for provided located radio sources.
* @param listener listener in charge of handling events.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(sources, fingerprint, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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.
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores) {
return create(sourceQualityScores, fingerprintReadingQualityScores, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
List<? extends RadioSourceLocated<Point3D>> sources) {
return create(sourceQualityScores, fingerprintReadingQualityScores, sources, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint) {
return create(sourceQualityScores, fingerprintReadingQualityScores, fingerprint, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint) {
return create(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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.
* @return a robust 3D position estimator.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(sourceQualityScores, fingerprintReadingQualityScores, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided sources is null or the number of
* provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(sourceQualityScores, fingerprintReadingQualityScores, sources, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @param listener listener in charge of handling events.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint,
final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(sourceQualityScores, fingerprintReadingQualityScores, fingerprint, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position estimator.
*
* @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 ranging
* readings at an unknown location for
* provided located radio sources.
* @param listener listener in charge of handling events.
* @return a robust 3D position estimator.
* @throws IllegalArgumentException if either provided sources or fingerprint is null
* or the number of provided sources is less than the required minimum.
*/
public static RobustRangingPositionEstimator3D create(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
extends RadioSource>> fingerprint, final RobustRangingPositionEstimatorListener<Point3D> listener) {
return create(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Sets positions, distances and standard deviations of distances on internal
* lateration solver.
*
* @param positions positions to be set.
* @param distances distances to be set.
* @param distanceStandardDeviations standard deviations of distances to be set.
* @param distanceQualityScores distance quality scores or null if not
* required.
*/
@Override
@SuppressWarnings("Duplicates")
protected void setPositionsDistancesDistanceStandardDeviationsAndQualityScores(
final List<Point3D> positions, List<Double> distances, final List<Double> distanceStandardDeviations,
final List<Double> distanceQualityScores) {
final var size = positions.size();
Point3D[] positionsArray = new InhomogeneousPoint3D[size];
positionsArray = positions.toArray(positionsArray);
final var distancesArray = new double[size];
final var distanceStandardDeviationsArray = new double[size];
double[] qualityScoresArray = null;
if (distanceQualityScores != null) {
qualityScoresArray = new double[size];
}
for (var i = 0; i < size; i++) {
distancesArray[i] = distances.get(i);
distanceStandardDeviationsArray[i] = distanceStandardDeviations.get(i);
if (qualityScoresArray != null) {
qualityScoresArray[i] = distanceQualityScores.get(i);
}
}
try {
laterationSolver.setPositionsDistancesAndStandardDeviations(positionsArray, distancesArray,
distanceStandardDeviationsArray);
if (qualityScoresArray != null) {
laterationSolver.setQualityScores(qualityScoresArray);
}
} catch (final LockedException e) {
throw new IllegalArgumentException(e);
}
}
}