1 /*
2 * Copyright (C) 2019 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.position;
17
18 import com.irurueta.geometry.Point2D;
19 import com.irurueta.navigation.LockedException;
20 import com.irurueta.navigation.indoor.Fingerprint;
21 import com.irurueta.navigation.indoor.RadioSource;
22 import com.irurueta.navigation.indoor.RadioSourceLocated;
23 import com.irurueta.navigation.indoor.Reading;
24 import com.irurueta.navigation.lateration.MSACRobustLateration2DSolver;
25 import com.irurueta.numerical.robust.RobustEstimatorMethod;
26
27 import java.util.List;
28
29 /**
30 * Robustly estimates 2D position using located radio sources and their readings at
31 * unknown locations and using MSAC algorithm to discard outliers.
32 * This kind of estimator can be used to robustly determine the 2D position of a given
33 * device by getting readings at an unknown location of different radio
34 * sources whose 2D locations are known.
35 */
36 public class MSACRobustMixedPositionEstimator2D extends RobustMixedPositionEstimator2D {
37
38 /**
39 * Constructor.
40 */
41 public MSACRobustMixedPositionEstimator2D() {
42 super();
43 init();
44 }
45
46 /**
47 * Constructor.
48 *
49 * @param sources located radio sources used for lateration.
50 * @throws IllegalArgumentException if provided sources is null or the number of
51 * provided sources is less than the required minimum.
52 */
53 public MSACRobustMixedPositionEstimator2D(final List<? extends RadioSourceLocated<Point2D>> sources) {
54 super();
55 init();
56 internalSetSources(sources);
57 }
58
59 /**
60 * Constructor.
61 *
62 * @param fingerprint fingerprint containing readings at an unknown
63 * location for provided located radio sources.
64 * @throws IllegalArgumentException if provided fingerprint is null.
65 */
66 public MSACRobustMixedPositionEstimator2D(
67 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
68 super();
69 init();
70 internalSetFingerprint(fingerprint);
71 }
72
73 /**
74 * Constructor
75 *
76 * @param sources located radio sources used for lateration.
77 * @param fingerprint fingerprint containing readings at an unknown
78 * location for provided located radio sources.
79 * @throws IllegalArgumentException if either provided sources or fingerprint is null
80 * or the number of provided sources is less than the required minimum.
81 */
82 public MSACRobustMixedPositionEstimator2D(
83 final List<? extends RadioSourceLocated<Point2D>> sources,
84 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
85 super();
86 init();
87 internalSetSources(sources);
88 internalSetFingerprint(fingerprint);
89 }
90
91 /**
92 * Constructor.
93 *
94 * @param listener listener in charge of handling events.
95 */
96 public MSACRobustMixedPositionEstimator2D(final RobustMixedPositionEstimatorListener<Point2D> listener) {
97 super(listener);
98 init();
99 }
100
101 /**
102 * Constructor.
103 *
104 * @param sources located radio sources used for lateration.
105 * @param listener listener in charge of handling events.
106 * @throws IllegalArgumentException if provided sources is null or the number of
107 * provided sources is less than the required minimum.
108 */
109 public MSACRobustMixedPositionEstimator2D(
110 final List<? extends RadioSourceLocated<Point2D>> sources,
111 final RobustMixedPositionEstimatorListener<Point2D> listener) {
112 super(listener);
113 init();
114 internalSetSources(sources);
115 }
116
117 /**
118 * Constructor.
119 *
120 * @param fingerprint fingerprint containing readings at an unknown
121 * location for provided location radio sources.
122 * @param listener listener in charge of handling events.
123 * @throws IllegalArgumentException if provided fingerprint is null.
124 */
125 public MSACRobustMixedPositionEstimator2D(
126 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
127 final RobustMixedPositionEstimatorListener<Point2D> listener) {
128 super(listener);
129 init();
130 internalSetFingerprint(fingerprint);
131 }
132
133 /**
134 * Constructor.
135 *
136 * @param sources located radio sources used for lateration.
137 * @param fingerprint fingerprint containing readings at an unknown
138 * location for provided located radio sources.
139 * @param listener listener in charge of handling events.
140 */
141 public MSACRobustMixedPositionEstimator2D(
142 final List<? extends RadioSourceLocated<Point2D>> sources,
143 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
144 final RobustMixedPositionEstimatorListener<Point2D> listener) {
145 super(listener);
146 init();
147 internalSetSources(sources);
148 internalSetFingerprint(fingerprint);
149 }
150
151 /**
152 * Gets threshold to determine whether samples are inliers or not when testing possible solutions.
153 * The threshold refers to the amount of error on distance between estimated position and distances
154 * provided for each sample.
155 *
156 * @return threshold to determine whether samples are inliers or not.
157 */
158 public double getThreshold() {
159 return ((MSACRobustLateration2DSolver) laterationSolver).getThreshold();
160 }
161
162 /**
163 * Sets threshold to determine whether samples are inliers or not when testing possible solutions.
164 * The threshold refers to the amount of error on distance between estimated position and distances
165 * provided for each sample.
166 *
167 * @param threshold threshold to determine whether samples are inliers or not.
168 * @throws IllegalArgumentException if provided value is equal or less than zero.
169 * @throws LockedException if this solver is locked.
170 */
171 public void setThreshold(final double threshold) throws LockedException {
172 ((MSACRobustLateration2DSolver) laterationSolver).setThreshold(threshold);
173 }
174
175 /**
176 * Returns method being used for robust estimation.
177 *
178 * @return method being used for robust estimation.
179 */
180 @Override
181 public RobustEstimatorMethod getMethod() {
182 return RobustEstimatorMethod.MSAC;
183 }
184
185 /**
186 * Initializes robust lateration solver.
187 */
188 private void init() {
189 laterationSolver = new MSACRobustLateration2DSolver(trilaterationSolverListener);
190 }
191 }
192