Package com.irurueta.navigation.indoor.radiosource

Class SequentialRobustRangingAndRssiRadioSourceEstimator3DTest

java.lang.Object

com.irurueta.navigation.indoor.radiosource.SequentialRobustRangingAndRssiRadioSourceEstimator3DTest

All Implemented Interfaces:

SequentialRobustRangingAndRssiRadioSourceEstimatorListener<WifiAccessPoint,com.irurueta.geometry.Point3D>

class SequentialRobustRangingAndRssiRadioSourceEstimator3DTest
extends Object
implements SequentialRobustRangingAndRssiRadioSourceEstimatorListener<WifiAccessPoint,com.irurueta.geometry.Point3D>

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_POSITION_ERROR
private static final double	LARGE_POWER_ERROR
private static final Logger	LOGGER
private static final double	MAX_PATH_LOSS_EXPONENT
private static final double	MAX_POS
private static final int	MAX_READINGS
private static final double	MAX_RSSI
private static final double	MIN_PATH_LOSS_EXPONENT
private static final double	MIN_POS
private static final int	MIN_READINGS
private static final double	MIN_RSSI
private static final double	PATH_LOSS_ERROR
private static final int	PERCENTAGE_OUTLIERS
private static final double	SPEED_OF_LIGHT
private static final double	STD_OUTLIER_ERROR
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
SequentialRobustRangingAndRssiRadioSourceEstimator3DTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(SequentialRobustRangingAndRssiRadioSourceEstimator3D<WifiAccessPoint> estimator)
void	onEstimateEnd(SequentialRobustRangingAndRssiRadioSourceEstimator<WifiAccessPoint,com.irurueta.geometry.Point3D> estimator)
void	onEstimateProgressChange(SequentialRobustRangingAndRssiRadioSourceEstimator<WifiAccessPoint,com.irurueta.geometry.Point3D> estimator, float progress)
void	onEstimateStart(SequentialRobustRangingAndRssiRadioSourceEstimator<WifiAccessPoint,com.irurueta.geometry.Point3D> estimator)
private static double	receivedPower(double equivalentTransmittedPower, double distance, double frequency, double pathLossExponent)
private void	reset()
(package private) void	testAreValidReadings()
(package private) void	testConstructor()
(package private) void	testEstimateBeacon()
(package private) void	testEstimateLargerRangingAndRssiPreliminarySubsetSize()
(package private) void	testEstimateLargerRangingPreliminarySubsetSize()
(package private) void	testEstimateLargerRssiPreliminarySubsetSize()
(package private) void	testEstimateNoInlierErrorNoRefinement()
(package private) void	testEstimateNoInlierErrorWithInitialPosition()
(package private) void	testEstimateNoInlierErrorWithInitialPositionAndPower()
(package private) void	testEstimateNoInlierErrorWithInitialPower()
(package private) void	testEstimateNoInlierErrorWithRefinement()
(package private) void	testEstimatePositionAndPathloss()
(package private) void	testEstimatePositionAndPathlossWithInitialValues()
(package private) void	testEstimatePositionOnly()
(package private) void	testEstimatePositionOnlyRepeated()
(package private) void	testEstimatePositionOnlyWithInitialPosition()
(package private) void	testEstimateWithInitialPathLoss()
(package private) void	testEstimateWithInlierErrorWithInitialPositionAndPower()
(package private) void	testEstimateWithInlierErrorWithRefinement()
(package private) void	testEstimateWitHomogeneousRangingLinearSolver()
(package private) void	testEstimateWithPathLossEstimationEnabled()
(package private) void	testEstimateWithStandardDeviationsAndPositionCovariance()
(package private) void	testEstimateWitInhomogeneousRangingLinearSolver()
(package private) void	testGetMinReadings()
(package private) void	testGetSetInitialPathLossExponent()
(package private) void	testGetSetInitialPosition()
(package private) void	testGetSetInitialTransmittedPower()
(package private) void	testGetSetInitialTransmittedPowerdBm()
(package private) void	testGetSetListener()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScores()
(package private) void	testGetSetRangingConfidence()
(package private) void	testGetSetRangingMaxIterations()
(package private) void	testGetSetRangingPreliminarySubsetSize()
(package private) void	testGetSetRangingRobustMethod()
(package private) void	testGetSetRangingThreshold()
(package private) void	testGetSetReadings()
(package private) void	testGetSetRssiConfidence()
(package private) void	testGetSetRssiMaxIterations()
(package private) void	testGetSetRssiPreliminarySubsetSize()
(package private) void	testGetSetRssiRobustMethod()
(package private) void	testGetSetRssiThreshold()
(package private) void	testGetSetUseReadingPositionCovariance()
(package private) void	testIsSetCovarianceKept()
(package private) void	testIsSetHomogeneousRangingLinearSolverUsed()
(package private) void	testIsSetPathLossEstimationEnabled()
(package private) void	testIsSetResultRefined()
(package private) void	testIsSetTransmittedPowerEstimationEnabled()

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_READINGS

private static final int MIN_READINGS

See Also:

• Constant Field Values

MAX_READINGS

private static final int MAX_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

INLIER_ERROR_STD

private static final double INLIER_ERROR_STD

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_POSITION_ERROR

private static final double LARGE_POSITION_ERROR

See Also:

• Constant Field Values

LARGE_POWER_ERROR

private static final double LARGE_POWER_ERROR

See Also:

• Constant Field Values

PATH_LOSS_ERROR

private static final double PATH_LOSS_ERROR

See Also:

• Constant Field Values

SPEED_OF_LIGHT

private static final double SPEED_OF_LIGHT

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

estimateStart

private int estimateStart

estimateEnd

private int estimateEnd

estimateProgressChange

private int estimateProgressChange

Constructor Details

SequentialRobustRangingAndRssiRadioSourceEstimator3DTest

SequentialRobustRangingAndRssiRadioSourceEstimator3DTest()

Method Details

testConstructor

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

Throws:

com.irurueta.navigation.LockedException

testGetSetProgressDelta

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

Throws:

com.irurueta.navigation.LockedException

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

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

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

testGetSetReadings

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

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetSetQualityScores

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRangingPreliminarySubsetSize

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

Throws:

com.irurueta.navigation.LockedException

testGetSetRssiPreliminarySubsetSize

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialTransmittedPowerdBm

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialTransmittedPower

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialPosition

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialPathLossExponent

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

Throws:

com.irurueta.navigation.LockedException

testIsSetTransmittedPowerEstimationEnabled

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

Throws:

com.irurueta.navigation.LockedException

testIsSetPathLossEstimationEnabled

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

Throws:

com.irurueta.navigation.LockedException

testGetSetUseReadingPositionCovariance

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

Throws:

com.irurueta.navigation.LockedException

testIsSetHomogeneousRangingLinearSolverUsed

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

Throws:

com.irurueta.navigation.LockedException

testAreValidReadings

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

Throws:

com.irurueta.navigation.LockedException

testGetMinReadings

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

Throws:

com.irurueta.navigation.LockedException

testEstimateNoInlierErrorNoRefinement

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

testEstimateNoInlierErrorWithRefinement

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateWithInlierErrorWithRefinement

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateNoInlierErrorWithInitialPosition

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateNoInlierErrorWithInitialPower

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateNoInlierErrorWithInitialPositionAndPower

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateWithInlierErrorWithInitialPositionAndPower

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateWithPathLossEstimationEnabled

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateWithInitialPathLoss

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateBeacon

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimatePositionOnly

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimatePositionOnlyWithInitialPosition

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimatePositionOnlyRepeated

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimatePositionAndPathloss

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimatePositionAndPathlossWithInitialValues

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateWithStandardDeviationsAndPositionCovariance

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateWitHomogeneousRangingLinearSolver

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateWitInhomogeneousRangingLinearSolver

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

com.irurueta.algebra.AlgebraException

testEstimateLargerRangingPreliminarySubsetSize

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

testEstimateLargerRssiPreliminarySubsetSize

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

testEstimateLargerRangingAndRssiPreliminarySubsetSize

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

Throws:

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.numerical.robust.RobustEstimatorException

onEstimateStart

public void onEstimateStart(SequentialRobustRangingAndRssiRadioSourceEstimator<WifiAccessPoint,com.irurueta.geometry.Point3D> estimator)

Specified by:

onEstimateStart in interface SequentialRobustRangingAndRssiRadioSourceEstimatorListener<WifiAccessPoint,com.irurueta.geometry.Point3D>

onEstimateEnd

public void onEstimateEnd(SequentialRobustRangingAndRssiRadioSourceEstimator<WifiAccessPoint,com.irurueta.geometry.Point3D> estimator)

Specified by:

onEstimateEnd in interface SequentialRobustRangingAndRssiRadioSourceEstimatorListener<WifiAccessPoint,com.irurueta.geometry.Point3D>

onEstimateProgressChange

public void onEstimateProgressChange(SequentialRobustRangingAndRssiRadioSourceEstimator<WifiAccessPoint,com.irurueta.geometry.Point3D> estimator,
 float progress)

Specified by:

onEstimateProgressChange in interface SequentialRobustRangingAndRssiRadioSourceEstimatorListener<WifiAccessPoint,com.irurueta.geometry.Point3D>

reset

private void reset()

receivedPower

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

checkLocked

private static void checkLocked(SequentialRobustRangingAndRssiRadioSourceEstimator3D<WifiAccessPoint> estimator)