1 /*
2 * Copyright (C) 2018 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.navigation.indoor;
17
18 import com.irurueta.algebra.Matrix;
19 import com.irurueta.geometry.Point;
20
21 import java.util.List;
22
23 /**
24 * Contains located ranging and RSSI readings from several radio sources.
25 *
26 * @param <S> a {@link RadioSource} type.
27 * @param <P> a {@link Point} type.
28 * @param <R> a {@link RangingReading} type.
29 */
30 public class RangingAndRssiFingerprintLocated<S extends RadioSource, R extends RangingAndRssiReading<S>,
31 P extends Point<?>> extends RangingAndRssiFingerprint<S, R> implements FingerprintLocated<P> {
32
33 /**
34 * Position where fingerprint readings were made.
35 */
36 private P position;
37
38 /**
39 * Covariance of inhomogeneous coordinates of current
40 * position (if available).
41 */
42 private Matrix positionCovariance;
43
44 /**
45 * Constructor.
46 *
47 * @param readings non-located ranging and RSSI readings defining the
48 * fingerprint.
49 * @param position position where readings were made.
50 * @throws IllegalArgumentException if either readings or position are
51 * null.
52 */
53 public RangingAndRssiFingerprintLocated(final List<R> readings, final P position) {
54 super(readings);
55
56 if (position == null) {
57 throw new IllegalArgumentException();
58 }
59
60 this.position = position;
61 }
62
63 /**
64 * Constructor.
65 *
66 * @param readings non-located ranging and RSSI readings defining the
67 * fingerprint.
68 * @param position position where readings were made.
69 * @param positionCovariance covariance of inhomogeneous coordinates of current
70 * position (if available).
71 * @throws IllegalArgumentException if either readings or position are null, or
72 * covariance has invalid size.
73 */
74 public RangingAndRssiFingerprintLocated(final List<R> readings, final P position, final Matrix positionCovariance) {
75 this(readings, position);
76
77 if (positionCovariance != null) {
78 final var dims = position.getDimensions();
79 if (positionCovariance.getRows() != dims || positionCovariance.getColumns() != dims) {
80 throw new IllegalArgumentException();
81 }
82 }
83 this.positionCovariance = positionCovariance;
84 }
85
86 /**
87 * Empty constructor.
88 */
89 public RangingAndRssiFingerprintLocated() {
90 super();
91 }
92
93 /**
94 * Gets position where fingerprint readings were made.
95 *
96 * @return position where fingerprint readings were made.
97 */
98 public P getPosition() {
99 return position;
100 }
101
102 /**
103 * Gets covariance of inhomogeneous coordinates of current position (if available).
104 *
105 * @return covariance of position or null.
106 */
107 public Matrix getPositionCovariance() {
108 return positionCovariance;
109 }
110 }