Package com.irurueta.navigation.indoor.position

Class MSACRobustRangingAndRssiPositionEstimator2DTest

java.lang.Object

com.irurueta.navigation.indoor.position.MSACRobustRangingAndRssiPositionEstimator2DTest

All Implemented Interfaces:

RobustPositionEstimatorListener<RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D>>, RobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point2D>

@ExtendWith(org.mockito.junit.jupiter.MockitoExtension.class)
class MSACRobustRangingAndRssiPositionEstimator2DTest
extends Object
implements RobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point2D>

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	estimateEnd
private int	estimateNextIteration
private int	estimateProgressChange
private int	estimateStart
private static final double	FREQUENCY
private static final double	INLIER_ERROR_STD
private static final double	LARGE_ABSOLUTE_ERROR
private static final Logger	LOGGER
private static final double	MAX_PATH_LOSS_EXPONENT
private static final double	MAX_POS
private static final double	MAX_RSSI
private static final int	MAX_SOURCES
private static final double	MIN_PATH_LOSS_EXPONENT
private static final double	MIN_POS
private static final double	MIN_RSSI
private static final int	MIN_SOURCES
private static final double	PATH_LOSS_EXPONENT_VARIANCE
private static final int	PERCENTAGE_OUTLIERS
private static final double	RANGING_STD
private static final double	RX_POWER_VARIANCE
private static final double	SPEED_OF_LIGHT
private static final double	STD_OUTLIER_ERROR
private static final int	TIMES
private static final double	TX_POWER_VARIANCE

Constructor Summary

Constructors

Constructor	Description
MSACRobustRangingAndRssiPositionEstimator2DTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(MSACRobustRangingAndRssiPositionEstimator2D estimator)
void	onEstimateEnd(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator)
void	onEstimateNextIteration(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator, int iteration)
void	onEstimateProgressChange(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator, float progress)
void	onEstimateStart(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator)
private static double	receivedPower(double equivalentTransmittedPower, double distance, double pathLossExponent)
private void	reset()
(package private) void	testConstructor()
(package private) void	testEstimate()
(package private) void	testEstimateLargerPreliminarySubsetSize()
(package private) void	testEstimateLinearDisabled()
(package private) void	testEstimateLinearDisabledAndNotPreliminaryRefined()
(package private) void	testEstimateLinearDisabledWithInitialPosition()
(package private) void	testEstimateLinearSolverUsedHomogeneousAndPreliminaryRefined()
(package private) void	testEstimateLinearSolverUsedInhomogeneousPreliminaryRefined()
(package private) void	testEstimatePreliminaryNotRefined()
(package private) void	testEstimateWithInlierError()
(package private) void	testGetSetConfidence()
(package private) void	testGetSetEvenlyDistributeReadings()
(package private) void	testGetSetFallbackDistanceStandardDeviation()
(package private) void	testGetSetFingerprint()
(package private) void	testGetSetFingerprintReadingsQualityScores()
(package private) void	testGetSetInitialPosition()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxIterations()
(package private) void	testGetSetPreliminarySubsetSize()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetSourceQualityScores()
(package private) void	testGetSetSources()
(package private) void	testGetSetThreshold()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetHomogeneousLinearSolverUsed()
(package private) void	testIsSetLinearSolverUsed()
(package private) void	testIsSetPreliminarySolutionRefined()
(package private) void	testIsSetRadioSourcePositionCovarianceUsed()
(package private) void	testIsSetResultRefined()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

LOGGER

private static final Logger LOGGER

FREQUENCY

private static final double FREQUENCY

See Also:

• Constant Field Values

MIN_SOURCES

private static final int MIN_SOURCES

See Also:

• Constant Field Values

MAX_SOURCES

private static final int MAX_SOURCES

See Also:

• Constant Field Values

MIN_POS

private static final double MIN_POS

See Also:

• Constant Field Values

MAX_POS

private static final double MAX_POS

See Also:

• Constant Field Values

MIN_RSSI

private static final double MIN_RSSI

See Also:

• Constant Field Values

MAX_RSSI

private static final double MAX_RSSI

See Also:

• Constant Field Values

MIN_PATH_LOSS_EXPONENT

private static final double MIN_PATH_LOSS_EXPONENT

See Also:

• Constant Field Values

MAX_PATH_LOSS_EXPONENT

private static final double MAX_PATH_LOSS_EXPONENT

See Also:

• Constant Field Values

SPEED_OF_LIGHT

private static final double SPEED_OF_LIGHT

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

PERCENTAGE_OUTLIERS

private static final int PERCENTAGE_OUTLIERS

See Also:

• Constant Field Values

STD_OUTLIER_ERROR

private static final double STD_OUTLIER_ERROR

See Also:

• Constant Field Values

INLIER_ERROR_STD

private static final double INLIER_ERROR_STD

See Also:

• Constant Field Values

RANGING_STD

private static final double RANGING_STD

See Also:

• Constant Field Values

TX_POWER_VARIANCE

private static final double TX_POWER_VARIANCE

See Also:

• Constant Field Values

RX_POWER_VARIANCE

private static final double RX_POWER_VARIANCE

See Also:

• Constant Field Values

PATH_LOSS_EXPONENT_VARIANCE

private static final double PATH_LOSS_EXPONENT_VARIANCE

See Also:

• Constant Field Values

estimateStart

private int estimateStart

estimateEnd

private int estimateEnd

estimateNextIteration

private int estimateNextIteration

estimateProgressChange

private int estimateProgressChange

Constructor Details

MSACRobustRangingAndRssiPositionEstimator2DTest

MSACRobustRangingAndRssiPositionEstimator2DTest()

Method Details

testConstructor

@Test
void testConstructor()

testGetSetThreshold

@Test
void testGetSetThreshold()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetSources

@Test
void testGetSetSources()
                throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetFingerprint

@Test
void testGetSetFingerprint()
                    throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

@Test
void testGetSetListener()
                 throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialPosition

@Test
void testGetSetInitialPosition()
                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetRadioSourcePositionCovarianceUsed

@Test
void testIsSetRadioSourcePositionCovarianceUsed()
                                         throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetFallbackDistanceStandardDeviation

@Test
void testGetSetFallbackDistanceStandardDeviation()
                                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetProgressDelta

@Test
void testGetSetProgressDelta()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetConfidence

@Test
void testGetSetConfidence()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetMaxIterations

@Test
void testGetSetMaxIterations()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetResultRefined

@Test
void testIsSetResultRefined()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetCovarianceKept

@Test
void testIsSetCovarianceKept()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetLinearSolverUsed

@Test
void testIsSetLinearSolverUsed()
                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetHomogeneousLinearSolverUsed

@Test
void testIsSetHomogeneousLinearSolverUsed()
                                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testIsSetPreliminarySolutionRefined

@Test
void testIsSetPreliminarySolutionRefined()
                                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetSourceQualityScores

@Test
void testGetSetSourceQualityScores()
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetFingerprintReadingsQualityScores

@Test
void testGetSetFingerprintReadingsQualityScores()
                                         throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetEvenlyDistributeReadings

@Test
void testGetSetEvenlyDistributeReadings()
                                 throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetPreliminarySubsetSize

@Test
void testGetSetPreliminarySubsetSize()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testEstimate

@Test
void testEstimate()
           throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateWithInlierError

@Test
void testEstimateWithInlierError()
                          throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearSolverUsedHomogeneousAndPreliminaryRefined

@Test
void testEstimateLinearSolverUsedHomogeneousAndPreliminaryRefined()
                                                           throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearSolverUsedInhomogeneousPreliminaryRefined

@Test
void testEstimateLinearSolverUsedInhomogeneousPreliminaryRefined()
                                                          throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimatePreliminaryNotRefined

@Test
void testEstimatePreliminaryNotRefined()
                                throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearDisabled

@Test
void testEstimateLinearDisabled()
                         throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearDisabledAndNotPreliminaryRefined

@Test
void testEstimateLinearDisabledAndNotPreliminaryRefined()
                                                 throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearDisabledWithInitialPosition

@Test
void testEstimateLinearDisabledWithInitialPosition()
                                            throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLargerPreliminarySubsetSize

@Test
void testEstimateLargerPreliminarySubsetSize()
                                      throws com.irurueta.navigation.LockedException,
com.irurueta.numerical.robust.RobustEstimatorException,
com.irurueta.navigation.NotReadyException,
com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

Throws:

com.irurueta.navigation.LockedException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.navigation.NotReadyException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

onEstimateStart

public void onEstimateStart(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator)

Specified by:

onEstimateStart in interface RobustPositionEstimatorListener<RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D>>

onEstimateEnd

public void onEstimateEnd(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator)

Specified by:

onEstimateEnd in interface RobustPositionEstimatorListener<RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D>>

onEstimateNextIteration

public void onEstimateNextIteration(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator,
 int iteration)

Specified by:

onEstimateNextIteration in interface RobustPositionEstimatorListener<RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D>>

onEstimateProgressChange

public void onEstimateProgressChange(RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator,
 float progress)

Specified by:

onEstimateProgressChange in interface RobustPositionEstimatorListener<RobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D>>

reset

private void reset()

receivedPower

private static double receivedPower(double equivalentTransmittedPower,
 double distance,
 double pathLossExponent)

checkLocked

private static void checkLocked(MSACRobustRangingAndRssiPositionEstimator2D estimator)