SequentialRobustMixedPositionEstimator3D.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.Point3D;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.indoor.Fingerprint;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceLocated;
import com.irurueta.navigation.indoor.Reading;
import java.util.List;
/**
* Robustly estimates 3D position, using RSSI readings first to obtain an initial coarse
* position estimation, and then ranging readings to refine such estimation.
* <p>
* This implementation is like SequentialRobustRangingAndRssiPositionEstimator but
* allows mixing different kinds of readings (ranging, RSSI or ranging+RSSI).
*/
public class SequentialRobustMixedPositionEstimator3D extends SequentialRobustMixedPositionEstimator<Point3D> {
/**
* Constructor.
*/
public SequentialRobustMixedPositionEstimator3D() {
super();
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 SequentialRobustMixedPositionEstimator3D(final List<? extends RadioSourceLocated<Point3D>> sources) {
super(sources);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing RSSI readings at an unknown location
* for provided located radio sources.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public SequentialRobustMixedPositionEstimator3D(
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
super(fingerprint);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing 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 SequentialRobustMixedPositionEstimator3D(
final List<? extends RadioSourceLocated<Point3D>> sources,
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
super(sources, fingerprint);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* Constructor.
*
* @param listener listener in charge of handling events.
*/
public SequentialRobustMixedPositionEstimator3D(
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 SequentialRobustMixedPositionEstimator3D(
final List<? extends RadioSourceLocated<Point3D>> sources,
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(sources, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* Constructor.
*
* @param fingerprint fingerprint containing readings at an unknown location for
* provided located radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public SequentialRobustMixedPositionEstimator3D(
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(fingerprint, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* Constructor.
*
* @param sources located radio sources used for lateration.
* @param fingerprint fingerprint containing 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 SequentialRobustMixedPositionEstimator3D(
final List<? extends RadioSourceLocated<Point3D>> sources,
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(sources, fingerprint, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores) {
super(sourceQualityScores, fingerprintReadingQualityScores);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources) {
super(sourceQualityScores, fingerprintReadingQualityScores, sources);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 readings at an
* unknown location for provided located
* radio sources.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
super(sourceQualityScores, fingerprintReadingQualityScores, fingerprint);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 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 SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
super(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(sourceQualityScores, fingerprintReadingQualityScores, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(sourceQualityScores, fingerprintReadingQualityScores, sources, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 readings at an
* unknown location for provided located
* radio sources.
* @param listener listener in charge of handling events.
* @throws IllegalArgumentException if provided fingerprint is null.
*/
public SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(sourceQualityScores, fingerprintReadingQualityScores, fingerprint, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* 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 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 SequentialRobustMixedPositionEstimator3D(
final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
final List<? extends RadioSourceLocated<Point3D>> sources,
final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
final SequentialRobustMixedPositionEstimatorListener<Point3D> listener) {
super(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint, listener);
rangingPreliminarySubsetSize = rssiPreliminarySubsetSize = getMinRequiredSources();
}
/**
* Gets number of dimensions of provided and estimated points.
*
* @return number of dimensions of provided and estimated points.
*/
@Override
public int getNumberOfDimensions() {
return Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH;
}
/**
* 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;
}
/**
* Builds ranging internal estimator.
*/
@Override
protected void buildRangingEstimator() {
rangingEstimator = RobustRangingPositionEstimator3D.create(rangingRobustMethod);
}
/**
* Builds RSSI internal estimator.
*/
@Override
protected void buildRssiEstimator() {
rssiEstimator = RobustRssiPositionEstimator3D.create(rssiRobustMethod);
}
/**
* Setup ranging internal estimator.
*
* @throws LockedException if estimator is locked.
*/
@Override
protected void setupRangingEstimator() throws LockedException {
super.setupRangingEstimator();
if (rangingThreshold != null) {
switch (rangingRobustMethod) {
case RANSAC:
((RANSACRobustRangingPositionEstimator3D) rangingEstimator).setThreshold(rangingThreshold);
break;
case LMEDS:
((LMedSRobustRangingPositionEstimator3D) rangingEstimator).setStopThreshold(rangingThreshold);
break;
case MSAC:
((MSACRobustRangingPositionEstimator3D) rangingEstimator).setThreshold(rangingThreshold);
break;
case PROSAC:
((PROSACRobustRangingPositionEstimator3D) rangingEstimator).setThreshold(rangingThreshold);
break;
case PROMEDS:
default:
((PROMedSRobustRangingPositionEstimator3D) rangingEstimator).setStopThreshold(rangingThreshold);
break;
}
}
}
/**
* Setup RSSI internal estimator.
*
* @throws LockedException if estimator is locked.
*/
@Override
protected void setupRssiEstimator() throws LockedException {
super.setupRssiEstimator();
if (rssiThreshold != null) {
switch (rssiRobustMethod) {
case RANSAC:
((RANSACRobustRssiPositionEstimator3D) rssiEstimator).setThreshold(rssiThreshold);
break;
case LMEDS:
((LMedSRobustRssiPositionEstimator3D) rssiEstimator).setStopThreshold(rssiThreshold);
break;
case MSAC:
((MSACRobustRssiPositionEstimator3D) rssiEstimator).setThreshold(rssiThreshold);
break;
case PROSAC:
((PROSACRobustRssiPositionEstimator3D) rssiEstimator).setThreshold(rssiThreshold);
break;
case PROMEDS:
default:
((PROMedSRobustRssiPositionEstimator3D) rssiEstimator).setStopThreshold(rssiThreshold);
break;
}
}
}
}