PROSACRobustRangingAndRssiRadioSourceEstimator3D.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.radiosource;
import com.irurueta.geometry.Point3D;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.NotReadyException;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RangingAndRssiReadingLocated;
import com.irurueta.numerical.robust.PROSACRobustEstimator;
import com.irurueta.numerical.robust.PROSACRobustEstimatorListener;
import com.irurueta.numerical.robust.RobustEstimator;
import com.irurueta.numerical.robust.RobustEstimatorException;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.List;
/**
* Robustly estimate 3D position, transmitted power and path-loss
* exponent of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding
* outliers using PROSAC algorithm and assuming that the ranging data is available to
* obtain position with greater accuracy and that the radio source emits isotropically
* following the expression below:
* Pr = Pt*Gt*Gr*lambda^2 / (4*pi*d)^2,
* where Pr is the received power (expressed in mW),
* Gt is the Gain of the transmission antenna
* Gr is the Gain of the receiver antenna
* d is the distance between emitter and receiver
* and lambda is the wavelength and is equal to: lambda = c / f,
* where c is the speed of light
* and f is the carrier frequency of the radio signal.
* Because usually information about the antenna of the radio source cannot be
* retrieved (because many measurements are made on unknown devices where
* physical access is not possible), this implementation will estimate the
* equivalent transmitted power as: Pte = Pt * Gt * Gr.
* If Readings contain RSSI standard deviations, those values will be used,
* otherwise it will be assumed an RSSI standard deviation of 1 dB.
*
* @param <S> a {@link RadioSource} type.
*/
@SuppressWarnings("Duplicates")
public class PROSACRobustRangingAndRssiRadioSourceEstimator3D<S extends RadioSource> extends
RobustRangingAndRssiRadioSourceEstimator3D<S> {
/**
* Constant defining default threshold to determine whether samples are inliers or not.
*/
public static final double DEFAULT_THRESHOLD = 0.1;
/**
* Minimum value that can be set as threshold.
* Threshold must be strictly greater than 0.0.
*/
public static final double MIN_THRESHOLD = 0.0;
/**
* Indicates that by default inliers will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS = false;
/**
* Indicates that by default residuals will only be computed but not kept.
*/
public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS = false;
/**
* 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.
*/
private double threshold = DEFAULT_THRESHOLD;
/**
* Indicates whether inliers must be computed and kept.
*/
private boolean computeAndKeepInliers = DEFAULT_COMPUTE_AND_KEEP_INLIERS;
/**
* Indicates whether residuals must be computed and kept.
*/
private boolean computeAndKeepResiduals = DEFAULT_COMPUTE_AND_KEEP_RESIDUALS;
/**
* Quality scores corresponding to each provided sample.
* The larger the score value the better the quality of the sample.
*/
private double[] qualityScores;
/**
* Constructor.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D() {
super();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings) {
super(readings);
}
/**
* Constructor.
*
* @param listener listener in charge of attending events raised by this instance.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
this.listener = listener;
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, listener);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition) {
super(readings, initialPosition);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(final Point3D initialPosition) {
super(initialPosition);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, listener);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, listener);
}
/**
* Constructor.
*
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(final Double initialTransmittedPowerdBm) {
super(initialTransmittedPowerdBm);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm) {
super(readings, initialTransmittedPowerdBm);
}
/**
* Constructor.
*
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
* @param listener listener in charge of attending events raised by this instance.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
super(readings, initialPosition, initialTransmittedPowerdBm);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
super(initialPosition, initialTransmittedPowerdBm);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener in charge of attending events raised by this instance.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, listener);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @param listener listener in charge of attending events raised by this instance.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(final double[] qualityScores) {
super();
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings) {
super(readings);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition) {
super(readings, initialPosition);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Point3D initialPosition) {
super(initialPosition);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Double initialTransmittedPowerdBm) {
super(initialTransmittedPowerdBm);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm) {
super(readings, initialTransmittedPowerdBm);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialTransmittedPowerdBm, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialTransmittedPowerdBm, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
super(readings, initialPosition, initialTransmittedPowerdBm);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
super(initialPosition, initialTransmittedPowerdBm);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, initialTransmittedPowerdBm, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if quality scores is null, or length
* of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
internalSetQualityScores(qualityScores);
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param initialPathLossExponent initial path loss exponent. A typical value is 2.0.
* @param listener listener in charge of attending events raised by this instance.
* @throws IllegalArgumentException if readings are not valid, quality scores
* is null, or length of quality scores is less than required minimum.
*/
public PROSACRobustRangingAndRssiRadioSourceEstimator3D(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
internalSetQualityScores(qualityScores);
}
/**
* 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 threshold;
}
/**
* 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 {
if (isLocked()) {
throw new LockedException();
}
if (threshold <= MIN_THRESHOLD) {
throw new IllegalArgumentException();
}
this.threshold = threshold;
}
/**
* Returns quality scores corresponding to each pair of
* positions and distances (i.e. sample).
* The larger the score value the better the quality of the sample.
* This implementation always returns null.
* Subclasses using quality scores must implement proper behavior.
*
* @return quality scores corresponding to each sample.
*/
@Override
public double[] getQualityScores() {
return qualityScores;
}
/**
* Sets quality scores corresponding to each pair of positions and
* distances (i.e. sample).
* The larger the score value the better the quality of the sample.
* This implementation makes no action.
* Subclasses using quality scores must implement proper behaviour.
*
* @param qualityScores quality scores corresponding to each pair of
* matched points.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than minimum required samples.
* @throws LockedException if robust solver is locked because an
* estimation is already in progress.
*/
@Override
public void setQualityScores(final double[] qualityScores) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
internalSetQualityScores(qualityScores);
}
/**
* Indicates whether solver is ready to find a solution.
*
* @return true if solver is ready, false otherwise.
*/
@Override
public boolean isReady() {
return super.isReady() && qualityScores != null && qualityScores.length == readings.size();
}
/**
* 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 computeAndKeepInliers;
}
/**
* 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 {
if (isLocked()) {
throw new LockedException();
}
this.computeAndKeepInliers = 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 isComputeAndKeepResidualsEnabled() {
return computeAndKeepResiduals;
}
/**
* 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 {
if (isLocked()) {
throw new LockedException();
}
this.computeAndKeepResiduals = computeAndKeepResiduals;
}
/**
* Robustly estimates position, transmitted power and path-loss exponent for a
* radio source.
*
* @throws LockedException if instance is busy during estimation.
* @throws NotReadyException if estimator is not ready.
* @throws RobustEstimatorException if estimation fails for any reason
* (i.e. numerical instability, no solution available, etc).
*/
@Override
public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
if (isLocked()) {
throw new LockedException();
}
if (!isReady()) {
throw new NotReadyException();
}
final var innerEstimator = new PROSACRobustEstimator<>(new PROSACRobustEstimatorListener<Solution<Point3D>>() {
@Override
public double[] getQualityScores() {
return qualityScores;
}
@Override
public double getThreshold() {
return threshold;
}
@Override
public int getTotalSamples() {
return readings.size();
}
@Override
public int getSubsetSize() {
return Math.max(preliminarySubsetSize, getMinReadings());
}
@Override
public void estimatePreliminarSolutions(
final int[] samplesIndices, final List<Solution<Point3D>> solutions) {
solvePreliminarySolutions(samplesIndices, solutions);
}
@Override
public double computeResidual(final Solution<Point3D> currentEstimation, final int i) {
return residual(currentEstimation, i);
}
@Override
public boolean isReady() {
return PROSACRobustRangingAndRssiRadioSourceEstimator3D.this.isReady();
}
@Override
public void onEstimateStart(final RobustEstimator<Solution<Point3D>> estimator) {
// no action needed
}
@Override
public void onEstimateEnd(final RobustEstimator<Solution<Point3D>> estimator) {
// no action needed
}
@Override
public void onEstimateNextIteration(
final RobustEstimator<Solution<Point3D>> estimator, final int iteration) {
if (listener != null) {
listener.onEstimateNextIteration(
PROSACRobustRangingAndRssiRadioSourceEstimator3D.this, iteration);
}
}
@Override
public void onEstimateProgressChange(
final RobustEstimator<Solution<Point3D>> estimator, final float progress) {
if (listener != null) {
listener.onEstimateProgressChange(
PROSACRobustRangingAndRssiRadioSourceEstimator3D.this, progress);
}
}
});
try {
locked = true;
if (listener != null) {
listener.onEstimateStart(this);
}
inliersData = null;
innerEstimator.setComputeAndKeepInliersEnabled(computeAndKeepInliers || refineResult);
innerEstimator.setComputeAndKeepResidualsEnabled(computeAndKeepResiduals || refineResult);
innerEstimator.setConfidence(confidence);
innerEstimator.setMaxIterations(maxIterations);
innerEstimator.setProgressDelta(progressDelta);
final var result = innerEstimator.estimate();
inliersData = innerEstimator.getInliersData();
attemptRefine(result);
if (listener != null) {
listener.onEstimateEnd(this);
}
} catch (final com.irurueta.numerical.LockedException e) {
throw new LockedException(e);
} catch (final com.irurueta.numerical.NotReadyException e) {
throw new NotReadyException(e);
} finally {
locked = false;
}
}
/**
* Returns method being used for robust estimation.
*
* @return method being used for robust estimation.
*/
@Override
public RobustEstimatorMethod getMethod() {
return RobustEstimatorMethod.PROSAC;
}
/**
* Sets quality scores corresponding to each provided sample.
* This method is used internally and does not check whether instance is
* locked or not.
*
* @param qualityScores quality scores to be set.
* @throws IllegalArgumentException if provided quality scores length
* is smaller than required minimum.
*/
private void internalSetQualityScores(final double[] qualityScores) {
if (qualityScores == null || qualityScores.length < getMinReadings()) {
throw new IllegalArgumentException();
}
this.qualityScores = qualityScores;
}
}