Package com.irurueta.navigation.indoor.position

Class SequentialRobustRangingAndRssiPositionEstimator2DTest

java.lang.Object

com.irurueta.navigation.indoor.position.SequentialRobustRangingAndRssiPositionEstimator2DTest

All Implemented Interfaces:

SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point2D>

class SequentialRobustRangingAndRssiPositionEstimator2DTest
extends Object
implements SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point2D>

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	estimateEnd
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 int	NUM_READINGS
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
SequentialRobustRangingAndRssiPositionEstimator2DTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(SequentialRobustRangingAndRssiPositionEstimator2D estimator)
void	onEstimateEnd(SequentialRobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator)
void	onEstimateProgressChange(SequentialRobustRangingAndRssiPositionEstimator<com.irurueta.geometry.Point2D> estimator, float progress)
void	onEstimateStart(SequentialRobustRangingAndRssiPositionEstimator<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	testEstimateLinearSolverUsedInhomogeneousAndPreliminaryRefined()
(package private) void	testEstimateMultipleReadingsPerSource()
(package private) void	testEstimateMultipleReadingsPerSourceWithInlierError()
(package private) void	testEstimatePreliminaryNotRefined()
(package private) void	testEstimateWithInlierError()
(package private) void	testGetSetFingerprint()
(package private) void	testGetSetFingerprintReadingsQualityScores()
(package private) void	testGetSetInitialPosition()
(package private) void	testGetSetListener()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetRangingConfidence()
(package private) void	testGetSetRangingFallbackDistanceStandardDeviation()
(package private) void	testGetSetRangingMaxIterations()
(package private) void	testGetSetRangingRobustMethod()
(package private) void	testGetSetRangingThreshold()
(package private) void	testGetSetRssiConfidence()
(package private) void	testGetSetRssiFallbackDistanceStandardDeviation()
(package private) void	testGetSetRssiMaxIterations()
(package private) void	testGetSetRssiRobustMethod()
(package private) void	testGetSetRssiThreshold()
(package private) void	testGetSetSourceQualityScores()
(package private) void	testGetSetSources()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetRangingHomogeneousLinearSolverUsed()
(package private) void	testIsSetRangingLinearSolverUsed()
(package private) void	testIsSetRangingPreliminarySolutionRefined()
(package private) void	testIsSetRangingRadioSourcePositionCovarianceUsed()
(package private) void	testIsSetRangingReadingEvenlyDistributed()
(package private) void	testIsSetResultRefined()
(package private) void	testIsSetRssiHomogeneousLinearSolverUsed()
(package private) void	testIsSetRssiLinearSolverUsed()
(package private) void	testIsSetRssiPreliminarySolutionRefined()
(package private) void	testIsSetRssiRadioSourcePositionCovarianceUsed()
(package private) void	testIsSetRssiReadingsEvenlyDistributed()

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

NUM_READINGS

private static final int NUM_READINGS

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

estimateProgressChange

private int estimateProgressChange

Constructor Details

SequentialRobustRangingAndRssiPositionEstimator2DTest

SequentialRobustRangingAndRssiPositionEstimator2DTest()

Method Details

testConstructor

@Test
void testConstructor()

testGetSetRangingRobustMethod

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRssiRobustMethod

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRangingRadioSourcePositionCovarianceUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRssiRadioSourcePositionCovarianceUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRangingReadingEvenlyDistributed

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRssiFallbackDistanceStandardDeviation

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRangingFallbackDistanceStandardDeviation

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRssiReadingsEvenlyDistributed

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

Throws:

com.irurueta.navigation.LockedException

testGetSetProgressDelta

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRangingConfidence

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRssiConfidence

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRangingMaxIterations

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRssiMaxIterations

@Test
void testGetSetRssiMaxIterations()
                          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

testIsSetRangingLinearSolverUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRssiLinearSolverUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRangingHomogeneousLinearSolverUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRssiHomogeneousLinearSolverUsed

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRangingPreliminarySolutionRefined

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

Throws:

com.irurueta.navigation.LockedException

testIsSetRssiPreliminarySolutionRefined

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRangingThreshold

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRssiThreshold

@Test
void testGetSetRssiThreshold()
                      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

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

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

testEstimate

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateMultipleReadingsPerSource

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateWithInlierError

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateMultipleReadingsPerSourceWithInlierError

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearSolverUsedHomogeneousAndPreliminaryRefined

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearSolverUsedInhomogeneousAndPreliminaryRefined

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimatePreliminaryNotRefined

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearDisabled

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearDisabledAndNotPreliminaryRefined

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLinearDisabledWithInitialPosition

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

testEstimateLargerPreliminarySubsetSize

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException

onEstimateStart

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

Specified by:

onEstimateStart in interface SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point2D>

onEstimateEnd

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

Specified by:

onEstimateEnd in interface SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point2D>

onEstimateProgressChange

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

Specified by:

onEstimateProgressChange in interface SequentialRobustRangingAndRssiPositionEstimatorListener<com.irurueta.geometry.Point2D>

reset

private void reset()

receivedPower

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

checkLocked

private static void checkLocked(SequentialRobustRangingAndRssiPositionEstimator2D estimator)