RangingReadingLocated.java
/*
* Copyright (C) 2018 Alberto Irurueta Carro (alberto@irurueta.com)
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package com.irurueta.navigation.indoor;
import com.irurueta.algebra.Matrix;
import com.irurueta.geometry.Point;
/**
* Contains a located ranging reading associated to a given radio source (e.g. Wi-Fi access point or
* bluetooth beacon), indicating the distance to such access point.
*
* @param <S> a {@link RadioSource} type.
* @param <P> a {@link Point} type.
*/
public class RangingReadingLocated<S extends RadioSource, P extends Point<?>> extends RangingReading<S>
implements ReadingLocated<P> {
/**
* Position where Wi-Fi reading was made.
*/
private P position;
/**
* Covariance of inhomogeneous coordinates of current position
* (if available).
*/
private Matrix positionCovariance;
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @throws IllegalArgumentException if radio source data is null, distance is negative
* or position is null.
*/
public RangingReadingLocated(final S source, final double distance, final P position) {
super(source, distance);
if (position == null) {
throw new IllegalArgumentException();
}
this.position = position;
}
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @param numAttemptedMeasurements number of attempted measurements used in the RTT exchange.
* @param numSuccessfulMeasurements number of successful measurements used to calculate the
* distance and standard deviation.
* @throws IllegalArgumentException if radio source data is null, distance is negative,
* position is null, number of attempted measures is less than 1 or number of successful
* measures is negative.
*/
public RangingReadingLocated(
final S source, final double distance, final P position, final int numAttemptedMeasurements,
final int numSuccessfulMeasurements) {
super(source, distance, numAttemptedMeasurements, numSuccessfulMeasurements);
if (position == null) {
throw new IllegalArgumentException();
}
this.position = position;
}
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @param distanceStandardDeviation standard deviation of distance, if available.
* @throws IllegalArgumentException if radio source data is null, distance is negative,
* position is null or standard deviation is zero or negative.
*/
public RangingReadingLocated(
final S source, final double distance, final P position, final Double distanceStandardDeviation) {
super(source, distance, distanceStandardDeviation);
if (position == null) {
throw new IllegalArgumentException();
}
this.position = position;
}
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @param distanceStandardDeviation standard deviation of distance, if available.
* @param numAttemptedMeasurements number of attempted measurements used in the RTT exchange.
* @param numSuccessfulMeasurements number of successful measurements used to calculate the
* distance and standard deviation.
* @throws IllegalArgumentException if radio source data is null, distance is negative,
* position is null or standard deviation is zero or negative, number of attempted
* measures is less than 1 or number of successful measures is negative.
*/
public RangingReadingLocated(
final S source, final double distance, final P position, final Double distanceStandardDeviation,
final int numAttemptedMeasurements, final int numSuccessfulMeasurements) {
super(source, distance, distanceStandardDeviation, numAttemptedMeasurements, numSuccessfulMeasurements);
if (position == null) {
throw new IllegalArgumentException();
}
this.position = position;
}
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @param positionCovariance covariance of inhomogeneous coordinates of
* current position (if available).
* @throws IllegalArgumentException if radio source data is null, distance is negative,
* position is null or position covariance has wrong size.
*/
public RangingReadingLocated(
final S source, final double distance, final P position, final Matrix positionCovariance) {
this(source, distance, position);
if (positionCovariance != null) {
final var dims = position.getDimensions();
if (positionCovariance.getRows() != dims || positionCovariance.getColumns() != dims) {
throw new IllegalArgumentException();
}
}
this.positionCovariance = positionCovariance;
}
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @param positionCovariance covariance of inhomogeneous coordinates of
* current position (if available).
* @param numAttemptedMeasurements number of attempted measurements used in the RTT exchange.
* @param numSuccessfulMeasurements number of successful measurements used to calculate the
* distance and standard deviation.
* @throws IllegalArgumentException if radio source data is null, distance is negative,
* position is null, position covariance has wrong size, number of attempted
* measures is less than 1 or number of successful measures is negative.
*/
public RangingReadingLocated(
final S source, final double distance, final P position, final Matrix positionCovariance,
final int numAttemptedMeasurements, final int numSuccessfulMeasurements) {
super(source, distance, numAttemptedMeasurements, numSuccessfulMeasurements);
if (position == null) {
throw new IllegalArgumentException();
}
if (positionCovariance != null) {
final var dims = position.getDimensions();
if (positionCovariance.getRows() != dims || positionCovariance.getColumns() != dims) {
throw new IllegalArgumentException();
}
}
this.position = position;
this.positionCovariance = positionCovariance;
}
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @param distanceStandardDeviation standard deviation of distance, if available.
* @param positionCovariance covariance of inhomogeneous coordinates of
* current position (if available).
* @throws IllegalArgumentException if radio source data is null, distance is negative,
* position is null or standard deviation is zero or negative.
*/
public RangingReadingLocated(
final S source, final double distance, final P position, final Double distanceStandardDeviation,
final Matrix positionCovariance) {
this(source, distance, position, distanceStandardDeviation);
if (positionCovariance != null) {
final var dims = position.getDimensions();
if (positionCovariance.getRows() != dims || positionCovariance.getColumns() != dims) {
throw new IllegalArgumentException();
}
}
this.positionCovariance = positionCovariance;
}
/**
* Constructor.
*
* @param source radio source associated to this reading.
* @param distance distance in meters to the radio source.
* @param position position where reading was made.
* @param distanceStandardDeviation standard deviation of distance, if available.
* @param positionCovariance covariance of inhomogeneous coordinates of
* current position (if available).
* @param numAttemptedMeasurements number of attempted measurements used in the RTT exchange.
* @param numSuccessfulMeasurements number of successful measurements used to calculate the
* distance and standard deviation.
* @throws IllegalArgumentException if radio source data is null, distance is negative,
* position is null, distance standard deviation is zero or negative, position
* covariance has wrong size, number of attempted measures is less than 1 or
* number of successful measures is negative.
*/
public RangingReadingLocated(
final S source, final double distance, final P position, final Double distanceStandardDeviation,
final Matrix positionCovariance, final int numAttemptedMeasurements, final int numSuccessfulMeasurements) {
super(source, distance, distanceStandardDeviation, numAttemptedMeasurements, numSuccessfulMeasurements);
if (position == null) {
throw new IllegalArgumentException();
}
if (positionCovariance != null) {
final var dims = position.getDimensions();
if (positionCovariance.getRows() != dims || positionCovariance.getColumns() != dims) {
throw new IllegalArgumentException();
}
}
this.position = position;
this.positionCovariance = positionCovariance;
}
/**
* Empty constructor.
*/
protected RangingReadingLocated() {
super();
}
/**
* Gets position where reading was made.
*
* @return position where reading was made.
*/
public P getPosition() {
return position;
}
/**
* Gets covariance of inhomogeneous coordinates of current position (if available).
*
* @return covariance of position or null.
*/
public Matrix getPositionCovariance() {
return positionCovariance;
}
}