RobustRangingAndRssiRadioSourceEstimator3D.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.radiosource;
import com.irurueta.geometry.Point3D;
import com.irurueta.navigation.LockedException;
import com.irurueta.navigation.NavigationException;
import com.irurueta.navigation.indoor.Beacon;
import com.irurueta.navigation.indoor.BeaconWithPowerAndLocated3D;
import com.irurueta.navigation.indoor.RadioSource;
import com.irurueta.navigation.indoor.RadioSourceWithPowerAndLocated;
import com.irurueta.navigation.indoor.RangingAndRssiReadingLocated;
import com.irurueta.navigation.indoor.WifiAccessPoint;
import com.irurueta.navigation.indoor.WifiAccessPointWithPowerAndLocated3D;
import com.irurueta.numerical.robust.RobustEstimatorMethod;
import java.util.ArrayList;
import java.util.List;
/**
* This is an abstract class to 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 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.
* <p>
* Although RobustRssiRadioSourceEstimator can estimate the same parameters of a radio
* source, when ranging measures are available along with RSSI measurements,
* implementations of this class should be preferred instead as they can provide
* greater accuracy.
*
* @param <S> a {@link RadioSource} type.
*/
public abstract class RobustRangingAndRssiRadioSourceEstimator3D<S extends RadioSource> extends
RobustRangingAndRssiRadioSourceEstimator<S, Point3D> {
/**
* Radio source estimator used internally.
*/
protected final RangingAndRssiRadioSourceEstimator3D<S> innerEstimator =
new RangingAndRssiRadioSourceEstimator3D<>();
/**
* Subset of readings used by inner estimator.
*/
private final List<RangingAndRssiReadingLocated<S, Point3D>> innerReadings = new ArrayList<>();
/**
* Constructor.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D() {
super();
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings) {
super(readings);
preliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param listener listener in charge of attending events raised by this instance.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(listener);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition) {
super(readings, initialPosition);
preliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(final Point3D initialPosition) {
super(initialPosition);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
*
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's)
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(final Double initialTransmittedPowerdBm) {
super(initialTransmittedPowerdBm);
preliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings Wi-Fi 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm) {
super(readings, initialTransmittedPowerdBm);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialTransmittedPowerdBm, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* Constructor.
* Sets signal readings belonging to the same radio source.
*
* @param readings Wi-Fi signal readings belonging to the radio source point.
* @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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialTransmittedPowerdBm, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm) {
super(readings, initialPosition, initialTransmittedPowerdBm);
preliminarySubsetSize = getMinReadings();
}
/**
* 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).
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
super(initialPosition, initialTransmittedPowerdBm);
preliminarySubsetSize = getMinReadings();
}
/**
* 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 listener in charge of attending events raised by this instance.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, initialTransmittedPowerdBm, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(readings, initialPosition, initialTransmittedPowerdBm, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
super(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
super(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
preliminarySubsetSize = getMinReadings();
}
/**
* 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.
*/
protected RobustRangingAndRssiRadioSourceEstimator3D(
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);
preliminarySubsetSize = getMinReadings();
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>();
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>();
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>();
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>();
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>();
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param readings signal readings belonging to the same radio source.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param listener listener in charge of attending events raised by this instance.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param readings signal readings belonging to the same radio source.
* @param listener listener in charge of attending events raised by this instance.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Double initialTransmittedPowerdBm, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D radio source power and position estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D radio source power and position estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>();
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>();
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>();
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 access point transmitted power
* (expressed in dBm's).
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Double initialTransmittedPowerdBm, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores,
initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores,
initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialTransmittedPowerdBm, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores,
initialTransmittedPowerdBm, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores,
initialTransmittedPowerdBm, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialTransmittedPowerdBm,
listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialTransmittedPowerdBm, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialTransmittedPowerdBm, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings, initialPosition,
initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 listener in charge of attending events raised by this instance.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, initialTransmittedPowerdBm, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, initialTransmittedPowerdBm, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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 method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent, final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
};
}
/**
* Creates a robust 3D position radio source estimator.
*
* @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.
* @param method robust estimator method.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener,
final RobustEstimatorMethod method) {
return switch (method) {
case RANSAC -> new RANSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case LMEDS -> new LMedSRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case MSAC -> new MSACRobustRangingAndRssiRadioSourceEstimator3D<>(readings, initialPosition,
initialTransmittedPowerdBm, initialPathLossExponent, listener);
case PROSAC -> new PROSACRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
default -> new PROMedSRobustRangingAndRssiRadioSourceEstimator3D<>(qualityScores, readings,
initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
};
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create() {
return create(DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param readings signal readings belonging to the same radio source.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings) {
return create(readings, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param listener listener in charge of attending events raised by this instance.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param readings signal readings belonging to the same radio source.
* @param listener listener in charge of attending events raised by this instance.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(readings, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param readings signal readings belonging to the same radio source.
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition) {
return create(readings, initialPosition, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition) {
return create(initialPosition, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param initialPosition initial position to start the estimation of radio
* source position.
* @param listener listener in charge of attending events raised by this instance.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(initialPosition, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(readings, initialPosition, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param initialTransmittedPowerdBm initial transmitted power to start the
* estimation of radio source transmitted power
* (expressed in dBm's).
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Double initialTransmittedPowerdBm) {
return create(initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm) {
return create(readings, initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(initialTransmittedPowerdBm, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(readings, initialTransmittedPowerdBm, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm) {
return create(readings, initialPosition, initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
return create(initialPosition, initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(initialPosition, initialTransmittedPowerdBm, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(readings, initialPosition, initialTransmittedPowerdBm, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
return create(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
return create(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings, final Point3D initialPosition,
final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @param qualityScores quality scores corresponding to each provided
* sample. The larger the score value the better
* the quality of the sample.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores) {
return create(qualityScores, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings) {
return create(qualityScores, readings, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, readings, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition) {
return create(qualityScores, readings, initialPosition, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition) {
return create(qualityScores, initialPosition, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, initialPosition, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, readings, initialPosition, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Double initialTransmittedPowerdBm) {
return create(qualityScores, initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm) {
return create(qualityScores, readings, initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, initialTransmittedPowerdBm, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, readings, initialTransmittedPowerdBm, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
return create(qualityScores, readings, initialPosition, initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm) {
return create(qualityScores, initialPosition, initialTransmittedPowerdBm, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 listener in charge of attending events raised by this instance.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, initialPosition, initialTransmittedPowerdBm, listener, DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, readings, initialPosition, initialTransmittedPowerdBm, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
return create(qualityScores, readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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 <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent) {
return create(qualityScores, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener,
DEFAULT_ROBUST_METHOD);
}
/**
* Creates a robust 3D position radio source estimator using
* default method.
*
* @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.
* @param <S> a {@link RadioSource} type.
* @return a new robust 3D position radio source estimator.
* @throws IllegalArgumentException if readings are not valid.
*/
public static <S extends RadioSource> RobustRangingAndRssiRadioSourceEstimator3D<S> create(
final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, Point3D>> readings,
final Point3D initialPosition, final Double initialTransmittedPowerdBm,
final double initialPathLossExponent,
final RobustRangingAndRssiRadioSourceEstimatorListener<S, Point3D> listener) {
return create(qualityScores, readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent,
listener, DEFAULT_ROBUST_METHOD);
}
/**
* Indicates whether an homogeneous linear solver is used to estimate an initial
* position for the internal ranging radio source estimator.
*
* @return true if homogeneous linear solver is used, false if an inhomogeneous linear
* one is used instead.
*/
@Override
public boolean isHomogeneousRangingLinearSolverUsed() {
return innerEstimator.isHomogeneousRangingLinearSolverUsed();
}
/**
* Specifies whether an homogeneous linear solver is used to estimate an initial
* position for the internal ranging radio source estimator.
*
* @param useHomogeneousLinearSolver true if homogeneous linear solver is used, false
* if an inhomogeneous linear one is used instead.
* @throws LockedException if estimator is locked.
*/
@Override
public void setHomogeneousRangingLinearSolverUsed(final boolean useHomogeneousLinearSolver) throws LockedException {
if (isLocked()) {
throw new LockedException();
}
innerEstimator.setHomogeneousRangingLinearSolverUsed(useHomogeneousLinearSolver);
}
/**
* Gets minimum required number of readings to estimate
* power, position and path-loss exponent.
* This value depends on the number of parameters to
* be estimated, but for position only, this is 3
* readings.
*
* @return minimum required number of readings.
*/
@Override
public int getMinReadings() {
var minReadings = Point3D.POINT3D_INHOMOGENEOUS_COORDINATES_LENGTH;
if (isTransmittedPowerEstimationEnabled()) {
minReadings++;
}
if (isPathLossEstimationEnabled()) {
minReadings++;
}
return ++minReadings;
}
/**
* Gets number of dimensions of position points.
*
* @return always returns 2 dimensions.
*/
@Override
public int getNumberOfDimensions() {
return innerEstimator.getNumberOfDimensions();
}
/**
* Gets estimated located radio source with estimated transmitted power.
*
* @return estimated located radio source with estimated transmitted power or null.
*/
@Override
@SuppressWarnings("unchecked")
public RadioSourceWithPowerAndLocated<Point3D> getEstimatedRadioSource() {
final var readings = getReadings();
if (readings == null || readings.isEmpty()) {
return null;
}
final var source = readings.get(0).getSource();
final var estimatedPosition = getEstimatedPosition();
if (estimatedPosition == null) {
return null;
}
final var estimatedPositionCovariance = getEstimatedPositionCovariance();
final var transmittedPowerVariance = getEstimatedTransmittedPowerVariance();
final var transmittedPowerStandardDeviation = transmittedPowerVariance != null
? Math.sqrt(transmittedPowerVariance) : null;
final var pathlossExponentVariance = getEstimatedPathLossExponentVariance();
final var pathlossExponentStandardDeviation = pathlossExponentVariance != null
? Math.sqrt(pathlossExponentVariance) : null;
if (source instanceof WifiAccessPoint accessPoint) {
return new WifiAccessPointWithPowerAndLocated3D(accessPoint.getBssid(), source.getFrequency(),
accessPoint.getSsid(), getEstimatedTransmittedPowerdBm(), transmittedPowerStandardDeviation,
getEstimatedPathLossExponent(), pathlossExponentStandardDeviation, estimatedPosition,
estimatedPositionCovariance);
} else if (source instanceof Beacon beacon) {
return new BeaconWithPowerAndLocated3D(beacon.getIdentifiers(), getEstimatedTransmittedPowerdBm(),
beacon.getFrequency(), beacon.getBluetoothAddress(), beacon.getBeaconTypeCode(),
beacon.getManufacturer(), beacon.getServiceUuid(), beacon.getBluetoothName(),
getEstimatedPathLossExponent(), transmittedPowerStandardDeviation,
pathlossExponentStandardDeviation, estimatedPosition, estimatedPositionCovariance);
} else {
return null;
}
}
/**
* Solves preliminary solution for a subset of samples.
*
* @param samplesIndices indices of subset samples.
* @param solutions instance where solution will be stored.
*/
@Override
protected void solvePreliminarySolutions(final int[] samplesIndices, final List<Solution<Point3D>> solutions) {
try {
innerReadings.clear();
for (final var samplesIndex : samplesIndices) {
innerReadings.add(readings.get(samplesIndex));
}
// initial transmitted power and position might or might not be available
innerEstimator.setInitialTransmittedPowerdBm(initialTransmittedPowerdBm);
innerEstimator.setInitialPosition(initialPosition);
innerEstimator.setInitialPathLossExponent(initialPathLossExponent);
innerEstimator.setTransmittedPowerEstimationEnabled(transmittedPowerEstimationEnabled);
innerEstimator.setPathLossEstimationEnabled(pathLossEstimationEnabled);
innerEstimator.setReadings(innerReadings);
// indicates whether readings position covariances must be taken into account
innerEstimator.setUseReadingPositionCovariances(useReadingPositionCovariances);
innerEstimator.estimate();
final var estimatedPosition = innerEstimator.getEstimatedPosition();
final var estimatedTransmittedPowerdBm = innerEstimator.getEstimatedTransmittedPowerdBm();
final var estimatedPathLossExponent = innerEstimator.getEstimatedPathLossExponent();
solutions.add(new Solution<>(estimatedPosition, estimatedTransmittedPowerdBm, estimatedPathLossExponent));
} catch (final NavigationException ignore) {
// if anything fails, no solution is added
}
}
/**
* Attempts to refine estimated position and transmitted power contained in
* provided solution if refinement is requested.
* This method sets a refined result and transmitted power or provided input
* result if refinement is not requested or has failed.
* If refinement is enabled, and it is requested to keep covariance, this method
* will also keep covariance of refined result.
* solution if not requested or refinement failed.
*
* @param result result to be refined.
*/
protected void attemptRefine(final Solution<Point3D> result) {
final var initialPosition = result.getEstimatedPosition();
final var initialTransmittedPowerdBm = result.getEstimatedTransmittedPowerdBm();
final var initialPathLossExponent = result.getEstimatedPathLossExponent();
if (refineResult && inliersData != null) {
final var inliers = inliersData.getInliers();
final var nSamples = readings.size();
innerReadings.clear();
for (var i = 0; i < nSamples; i++) {
if (inliers.get(i)) {
// sample is inlier
innerReadings.add(readings.get(i));
}
}
try {
innerEstimator.setInitialPosition(initialPosition);
innerEstimator.setInitialTransmittedPowerdBm(initialTransmittedPowerdBm);
innerEstimator.setInitialPathLossExponent(initialPathLossExponent);
innerEstimator.setTransmittedPowerEstimationEnabled(transmittedPowerEstimationEnabled);
innerEstimator.setPathLossEstimationEnabled(pathLossEstimationEnabled);
innerEstimator.setReadings(innerReadings);
innerEstimator.setUseReadingPositionCovariances(useReadingPositionCovariances);
innerEstimator.estimate();
final var cov = innerEstimator.getEstimatedCovariance();
if (keepCovariance && cov != null) {
// keep covariance
covariance = cov;
final var dims = getNumberOfDimensions();
var pos = 0;
final var d = dims - 1;
if (estimatedPositionCovariance == null) {
estimatedPositionCovariance = covariance.getSubmatrix(0, 0, d, d);
} else {
covariance.getSubmatrix(0, 0, d, d, estimatedPositionCovariance);
}
pos += dims;
if (transmittedPowerEstimationEnabled) {
// transmitted power estimation enabled
estimatedTransmittedPowerVariance = covariance.getElementAt(pos, pos);
pos++;
} else {
// transmitted power estimation disabled
estimatedTransmittedPowerVariance = null;
}
if (pathLossEstimationEnabled) {
// path-loss exponent estimation enabled
estimatedPathLossExponentVariance = covariance.getElementAt(pos, pos);
} else {
// path-loss exponent estimation disabled
estimatedPathLossExponentVariance = null;
}
} else {
covariance = null;
estimatedPositionCovariance = null;
estimatedTransmittedPowerVariance = null;
estimatedPathLossExponentVariance = null;
}
estimatedPosition = innerEstimator.getEstimatedPosition();
estimatedTransmittedPowerdBm = innerEstimator.getEstimatedTransmittedPowerdBm();
estimatedPathLossExponent = innerEstimator.getEstimatedPathLossExponent();
} catch (final Exception e) {
// refinement failed, so we return input value, and covariance
// becomes unavailable
covariance = null;
estimatedPositionCovariance = null;
estimatedTransmittedPowerVariance = null;
estimatedPathLossExponentVariance = null;
estimatedPosition = initialPosition;
estimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
estimatedPathLossExponent = initialPathLossExponent;
}
} else {
covariance = null;
estimatedPositionCovariance = null;
estimatedTransmittedPowerVariance = null;
estimatedPathLossExponentVariance = null;
estimatedPosition = initialPosition;
estimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
estimatedPathLossExponent = initialPathLossExponent;
}
}
}