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.InhomogeneousPoint2D;
19 import com.irurueta.geometry.Point2D;
20 import com.irurueta.navigation.LockedException;
21 import com.irurueta.navigation.indoor.Fingerprint;
22 import com.irurueta.navigation.indoor.RadioSource;
23 import com.irurueta.navigation.indoor.RadioSourceLocated;
24 import com.irurueta.navigation.indoor.Reading;
25 import com.irurueta.numerical.robust.RobustEstimatorMethod;
26
27 import java.util.List;
28
29 /**
30 * Base class for robust 2D position estimators using located radio sources and their
31 * readings at unknown locations.
32 * These kind of estimators can be used to robustly determine the 2D position of a given
33 * device by getting readings at an unknown location of different radio sources whose
34 * locations are known.
35 * Implementations of this class should be able to detect and discard outliers in order to
36 * find the best solution.
37 */
38 @SuppressWarnings("DuplicatedCode")
39 public abstract class RobustMixedPositionEstimator2D extends RobustMixedPositionEstimator<Point2D> {
40
41 /**
42 * Constructor.
43 */
44 protected RobustMixedPositionEstimator2D() {
45 super();
46 preliminarySubsetSize = getMinRequiredSources();
47 }
48
49 /**
50 * Constructor.
51 *
52 * @param listener listener in charge of handling events.
53 */
54 protected RobustMixedPositionEstimator2D(final RobustMixedPositionEstimatorListener<Point2D> listener) {
55 super(listener);
56 preliminarySubsetSize = getMinRequiredSources();
57 }
58
59 /**
60 * Gets minimum required number of located radio sources to perform lateration.
61 *
62 * @return minimum required number of located radio sources to perform lateration.
63 */
64 @Override
65 public int getMinRequiredSources() {
66 return Point2D.POINT2D_HOMOGENEOUS_COORDINATES_LENGTH;
67 }
68
69 /**
70 * Creates a robust 2D position estimator.
71 *
72 * @param method robust estimator method.
73 * @return a robust 2D position estimator.
74 */
75 public static RobustMixedPositionEstimator2D create(final RobustEstimatorMethod method) {
76 return switch (method) {
77 case RANSAC -> new RANSACRobustMixedPositionEstimator2D();
78 case LMEDS -> new LMedSRobustMixedPositionEstimator2D();
79 case MSAC -> new MSACRobustMixedPositionEstimator2D();
80 case PROSAC -> new PROSACRobustMixedPositionEstimator2D();
81 default -> new PROMedSRobustMixedPositionEstimator2D();
82 };
83 }
84
85 /**
86 * Creates a robust 2D position estimator.
87 *
88 * @param sources located radio sources used for lateration.
89 * @param method robust estimator method.
90 * @return a robust 2D position estimator.
91 * @throws IllegalArgumentException if provided sources is null or the number of
92 * provided sources is less than the required minimum.
93 */
94 public static RobustMixedPositionEstimator2D create(
95 final List<? extends RadioSourceLocated<Point2D>> sources, final RobustEstimatorMethod method) {
96 return switch (method) {
97 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources);
98 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources);
99 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources);
100 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sources);
101 default -> new PROMedSRobustMixedPositionEstimator2D(sources);
102 };
103 }
104
105 /**
106 * Creates a robust 2D position estimator.
107 *
108 * @param fingerprint fingerprint containing readings at an unknown
109 * location for provided located radio sources.
110 * @param method robust estimator method.
111 * @return a robust 2D position estimator.
112 * @throws IllegalArgumentException if provided fingerprint is null.
113 */
114 public static RobustMixedPositionEstimator2D create(
115 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
116 final RobustEstimatorMethod method) {
117 return switch (method) {
118 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(fingerprint);
119 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(fingerprint);
120 case MSAC -> new MSACRobustMixedPositionEstimator2D(fingerprint);
121 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(fingerprint);
122 default -> new PROMedSRobustMixedPositionEstimator2D(fingerprint);
123 };
124 }
125
126 /**
127 * Creates a robust 2D position estimator.
128 *
129 * @param sources located radio sources used for lateration.
130 * @param fingerprint fingerprint containing readings at an unknown
131 * location for provided located radio sources.
132 * @param method robust estimator method.
133 * @return a robust 2D position estimator.
134 * @throws IllegalArgumentException if either provided sources or fingerprint is null
135 * or the number of provided sources is less than the required minimum.
136 */
137 public static RobustMixedPositionEstimator2D create(
138 final List<? extends RadioSourceLocated<Point2D>> sources,
139 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
140 final RobustEstimatorMethod method) {
141 return switch (method) {
142 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources, fingerprint);
143 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources, fingerprint);
144 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources, fingerprint);
145 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sources, fingerprint);
146 default -> new PROMedSRobustMixedPositionEstimator2D(sources, fingerprint);
147 };
148 }
149
150 /**
151 * Creates a robust 2D position estimator.
152 *
153 * @param listener listener in charge of handling events.
154 * @param method robust estimator method.
155 * @return a robust 2D position estimator.
156 */
157 public static RobustMixedPositionEstimator2D create(
158 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
159 return switch (method) {
160 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(listener);
161 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(listener);
162 case MSAC -> new MSACRobustMixedPositionEstimator2D(listener);
163 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(listener);
164 default -> new PROMedSRobustMixedPositionEstimator2D(listener);
165 };
166 }
167
168 /**
169 * Creates a robust 2D position estimator.
170 *
171 * @param sources located radio sources used for lateration.
172 * @param listener listener in charge of handling events.
173 * @param method robust estimator method.
174 * @return a robust 2D position estimator.
175 * @throws IllegalArgumentException if provided sources is null or the number of
176 * provided sources is less than the required minimum.
177 */
178 public static RobustMixedPositionEstimator2D create(
179 final List<? extends RadioSourceLocated<Point2D>> sources,
180 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
181 return switch (method) {
182 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources, listener);
183 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources, listener);
184 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources, listener);
185 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sources, listener);
186 default -> new PROMedSRobustMixedPositionEstimator2D(sources, listener);
187 };
188 }
189
190 /**
191 * Creates a robust 2D position estimator.
192 *
193 * @param fingerprint fingerprint containing readings at an unknown
194 * location for provided located radio sources.
195 * @param listener listener in charge of handling events.
196 * @param method robust estimator method.
197 * @return a robust 2D position estimator.
198 * @throws IllegalArgumentException if provided fingerprint is null.
199 */
200 public static RobustMixedPositionEstimator2D create(
201 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
202 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
203 return switch (method) {
204 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(fingerprint, listener);
205 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(fingerprint, listener);
206 case MSAC -> new MSACRobustMixedPositionEstimator2D(fingerprint, listener);
207 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(fingerprint, listener);
208 default -> new PROMedSRobustMixedPositionEstimator2D(fingerprint, listener);
209 };
210 }
211
212 /**
213 * Creates a robust 2D position estimator.
214 *
215 * @param sources located radio sources used for lateration.
216 * @param fingerprint fingerprint containing readings at an unknown
217 * location for provided located radio sources.
218 * @param listener listener in charge of handling events.
219 * @param method robust estimator method.
220 * @return a robust 2D position estimator.
221 * @throws IllegalArgumentException if either provided sources or fingerprint is null
222 * or the number of provided sources is less than the required minimum.
223 */
224 public static RobustMixedPositionEstimator2D create(
225 final List<? extends RadioSourceLocated<Point2D>> sources,
226 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
227 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
228 return switch (method) {
229 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources, fingerprint, listener);
230 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources, fingerprint, listener);
231 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources, fingerprint, listener);
232 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sources, fingerprint, listener);
233 default -> new PROMedSRobustMixedPositionEstimator2D(sources, fingerprint, listener);
234 };
235 }
236
237 /**
238 * Creates a robust 2D position estimator.
239 *
240 * @param sourceQualityScores quality scores corresponding to
241 * each provided located radio source.
242 * The larger the score value the better
243 * the quality of the radio source.
244 * @param fingerprintReadingQualityScores quality scores corresponding to readings
245 * within provided fingerprint. The larger
246 * the score the better the quality of the
247 * reading.
248 * @param method robust estimator method.
249 * @return a robust 2D position estimator.
250 */
251 public static RobustMixedPositionEstimator2D create(
252 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
253 final RobustEstimatorMethod method) {
254 return switch (method) {
255 case RANSAC -> new RANSACRobustMixedPositionEstimator2D();
256 case LMEDS -> new LMedSRobustMixedPositionEstimator2D();
257 case MSAC -> new MSACRobustMixedPositionEstimator2D();
258 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
259 fingerprintReadingQualityScores);
260 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores);
261 };
262 }
263
264 /**
265 * Creates a robust 2D position estimator.
266 *
267 * @param sourceQualityScores quality scores corresponding to
268 * each provided located radio source.
269 * The larger the score value the better
270 * the quality of the radio source.
271 * @param fingerprintReadingQualityScores quality scores corresponding to readings
272 * within provided fingerprint. The larger
273 * the score the better the quality of the
274 * reading.
275 * @param sources located radio sources used for
276 * lateration.
277 * @param method robust estimator method.
278 * @return a robust 2D position estimator.
279 * @throws IllegalArgumentException if provided sources is null or the number of
280 * provided sources is less than the required minimum.
281 */
282 public static RobustMixedPositionEstimator2D create(
283 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
284 final List<? extends RadioSourceLocated<Point2D>> sources, final RobustEstimatorMethod method) {
285 return switch (method) {
286 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources);
287 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources);
288 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources);
289 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
290 fingerprintReadingQualityScores, sources);
291 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores,
292 sources);
293 };
294 }
295
296 /**
297 * Creates a robust 2D position estimator.
298 *
299 * @param sourceQualityScores quality scores corresponding to
300 * each provided located radio source.
301 * The larger the score value the better
302 * the quality of the radio source.
303 * @param fingerprintReadingQualityScores quality scores corresponding to readings
304 * within provided fingerprint. The larger
305 * the score the better the quality of the
306 * reading.
307 * @param fingerprint fingerprint containing
308 * readings at an unknown location for
309 * provided located radio sources.
310 * @param method robust estimator method.
311 * @return a robust 2D position estimator.
312 * @throws IllegalArgumentException if provided fingerprint is null.
313 */
314 public static RobustMixedPositionEstimator2D create(
315 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
316 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
317 final RobustEstimatorMethod method) {
318 return switch (method) {
319 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(fingerprint);
320 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(fingerprint);
321 case MSAC -> new MSACRobustMixedPositionEstimator2D(fingerprint);
322 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
323 fingerprintReadingQualityScores, fingerprint);
324 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores,
325 fingerprint);
326 };
327 }
328
329 /**
330 * Creates a robust 2D position estimator.
331 *
332 * @param sourceQualityScores quality scores corresponding to
333 * each provided located radio source.
334 * The larger the score value the better
335 * the quality of the radio source.
336 * @param fingerprintReadingQualityScores quality scores corresponding to readings
337 * within provided fingerprint. The larger
338 * the score the better the quality of the
339 * reading.
340 * @param sources located radio sources used for
341 * lateration.
342 * @param fingerprint fingerprint containing
343 * readings at an unknown location for
344 * provided located radio sources.
345 * @param method robust estimator method.
346 * @return a robust 2D position estimator.
347 * @throws IllegalArgumentException if either provided sources or fingerprint is null
348 * or the number of provided sources is less than the required minimum.
349 */
350 public static RobustMixedPositionEstimator2D create(
351 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
352 final List<? extends RadioSourceLocated<Point2D>> sources,
353 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
354 final RobustEstimatorMethod method) {
355 return switch (method) {
356 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources, fingerprint);
357 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources, fingerprint);
358 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources, fingerprint);
359 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
360 fingerprintReadingQualityScores, sources, fingerprint);
361 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores,
362 sources, fingerprint);
363 };
364 }
365
366 /**
367 * Creates a robust 2D position estimator.
368 *
369 * @param sourceQualityScores quality scores corresponding to
370 * each provided located radio source.
371 * The larger the score value the better
372 * the quality of the radio source.
373 * @param fingerprintReadingQualityScores quality scores corresponding to readings
374 * within provided fingerprint. The larger
375 * the score the better the quality of the
376 * reading.
377 * @param listener listener in charge of handling events.
378 * @param method robust estimator method.
379 * @return a robust 2D position estimator.
380 */
381 public static RobustMixedPositionEstimator2D create(
382 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
383 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
384 return switch (method) {
385 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(listener);
386 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(listener);
387 case MSAC -> new MSACRobustMixedPositionEstimator2D(listener);
388 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
389 fingerprintReadingQualityScores, listener);
390 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores,
391 listener);
392 };
393 }
394
395 /**
396 * Creates a robust 2D position estimator.
397 *
398 * @param sourceQualityScores quality scores corresponding to
399 * each provided located radio source.
400 * The larger the score value the better
401 * the quality of the radio source.
402 * @param fingerprintReadingQualityScores quality scores corresponding to readings
403 * within provided fingerprint. The larger
404 * the score the better the quality of the
405 * reading.
406 * @param sources located radio sources used for
407 * lateration.
408 * @param listener listener in charge of handling events.
409 * @param method robust estimator method.
410 * @return a robust 2D position estimator.
411 * @throws IllegalArgumentException if provided sources is null or the number of
412 * provided sources is less than the required minimum.
413 */
414 public static RobustMixedPositionEstimator2D create(
415 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
416 final List<? extends RadioSourceLocated<Point2D>> sources,
417 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
418 return switch (method) {
419 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources, listener);
420 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources, listener);
421 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources, listener);
422 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
423 fingerprintReadingQualityScores, sources, listener);
424 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores,
425 sources, listener);
426 };
427 }
428
429 /**
430 * Creates a robust 2D position estimator.
431 *
432 * @param sourceQualityScores quality scores corresponding to
433 * each provided located radio source.
434 * The larger the score value the better
435 * the quality of the radio source.
436 * @param fingerprintReadingQualityScores quality scores corresponding to readings
437 * within provided fingerprint. The larger
438 * the score the better the quality of the
439 * reading.
440 * @param fingerprint fingerprint containing
441 * readings at an unknown location for
442 * provided located radio sources.
443 * @param listener listener in charge of handling events.
444 * @param method robust estimator method.
445 * @return a robust 2D position estimator.
446 * @throws IllegalArgumentException if provided fingerprint is null.
447 */
448 public static RobustMixedPositionEstimator2D create(
449 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
450 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
451 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
452 return switch (method) {
453 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(fingerprint, listener);
454 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(fingerprint, listener);
455 case MSAC -> new MSACRobustMixedPositionEstimator2D(fingerprint, listener);
456 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
457 fingerprintReadingQualityScores, fingerprint, listener);
458 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores,
459 fingerprint, listener);
460 };
461 }
462
463 /**
464 * Creates a robust 2D position estimator.
465 *
466 * @param sourceQualityScores quality scores corresponding to
467 * each provided located radio source.
468 * The larger the score value the better
469 * the quality of the radio source.
470 * @param fingerprintReadingQualityScores quality scores corresponding to readings
471 * within provided fingerprint. The larger
472 * the score the better the quality of the
473 * reading.
474 * @param sources located radio sources used for
475 * lateration.
476 * @param fingerprint fingerprint containing
477 * readings at an unknown location for
478 * provided located radio sources.
479 * @param listener listener in charge of handling events.
480 * @param method robust estimator method.
481 * @return a robust 2D position estimator.
482 * @throws IllegalArgumentException if either provided sources or fingerprint is null
483 * or the number of provided sources is less than the required minimum.
484 */
485 public static RobustMixedPositionEstimator2D create(
486 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
487 final List<? extends RadioSourceLocated<Point2D>> sources,
488 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
489 final RobustMixedPositionEstimatorListener<Point2D> listener, final RobustEstimatorMethod method) {
490 return switch (method) {
491 case RANSAC -> new RANSACRobustMixedPositionEstimator2D(sources, fingerprint, listener);
492 case LMEDS -> new LMedSRobustMixedPositionEstimator2D(sources, fingerprint, listener);
493 case MSAC -> new MSACRobustMixedPositionEstimator2D(sources, fingerprint, listener);
494 case PROSAC -> new PROSACRobustMixedPositionEstimator2D(sourceQualityScores,
495 fingerprintReadingQualityScores, sources, fingerprint, listener);
496 default -> new PROMedSRobustMixedPositionEstimator2D(sourceQualityScores, fingerprintReadingQualityScores,
497 sources, fingerprint, listener);
498 };
499 }
500
501 /**
502 * Creates a robust 2D position estimator.
503 *
504 * @return a robust 2D position estimator.
505 */
506 public static RobustMixedPositionEstimator2D create() {
507 return create(DEFAULT_ROBUST_METHOD);
508 }
509
510 /**
511 * Creates a robust 2D position estimator.
512 *
513 * @param sources located radio sources used for lateration.
514 * @return a robust 2D position estimator.
515 * @throws IllegalArgumentException if provided sources is null or the number of
516 * provided sources is less than the required minimum.
517 */
518 public static RobustMixedPositionEstimator2D create(final List<? extends RadioSourceLocated<Point2D>> sources) {
519 return create(sources, DEFAULT_ROBUST_METHOD);
520 }
521
522 /**
523 * Creates a robust 2D position estimator.
524 *
525 * @param fingerprint fingerprint containing readings at an unknown
526 * location for provided located radio sources.
527 * @return a robust 2D position estimator.
528 * @throws IllegalArgumentException if provided fingerprint is null.
529 */
530 public static RobustMixedPositionEstimator2D create(
531 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
532 return create(fingerprint, DEFAULT_ROBUST_METHOD);
533 }
534
535 /**
536 * Creates a robust 2D position estimator.
537 *
538 * @param sources located radio sources used for lateration.
539 * @param fingerprint fingerprint containing ranging+RSSI readings at an unknown
540 * location for provided located radio sources.
541 * @return a robust 2D position estimator.
542 * @throws IllegalArgumentException if either provided sources or fingerprint is null
543 * or the number of provided sources is less than the required minimum.
544 */
545 public static RobustMixedPositionEstimator2D create(
546 final List<? extends RadioSourceLocated<Point2D>> sources,
547 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
548 return create(sources, fingerprint, DEFAULT_ROBUST_METHOD);
549 }
550
551 /**
552 * Creates a robust 2D position estimator.
553 *
554 * @param listener listener in charge of handling events.
555 * @return a robust 2D position estimator.
556 */
557 public static RobustMixedPositionEstimator2D create(final RobustMixedPositionEstimatorListener<Point2D> listener) {
558 return create(listener, DEFAULT_ROBUST_METHOD);
559 }
560
561 /**
562 * Creates a robust 2D position estimator.
563 *
564 * @param sources located radio sources used for lateration.
565 * @param listener listener in charge of handling events.
566 * @return a robust 2D position estimator.
567 * @throws IllegalArgumentException if provided sources is null or the number of
568 * provided sources is less than the required minimum.
569 */
570 public static RobustMixedPositionEstimator2D create(
571 final List<? extends RadioSourceLocated<Point2D>> sources,
572 final RobustMixedPositionEstimatorListener<Point2D> listener) {
573 return create(sources, listener, DEFAULT_ROBUST_METHOD);
574 }
575
576 /**
577 * Creates a robust 2D position estimator.
578 *
579 * @param fingerprint fingerprint containing readings at an unknown
580 * location for provided located radio sources.
581 * @param listener listener in charge of handling events.
582 * @return a robust 2D position estimator.
583 * @throws IllegalArgumentException if provided fingerprint is null.
584 */
585 public static RobustMixedPositionEstimator2D create(
586 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
587 final RobustMixedPositionEstimatorListener<Point2D> listener) {
588 return create(fingerprint, listener, DEFAULT_ROBUST_METHOD);
589 }
590
591 /**
592 * Creates a robust 2D position estimator.
593 *
594 * @param sources located radio sources used for lateration.
595 * @param fingerprint fingerprint containing readings at an unknown
596 * location for provided located radio sources.
597 * @param listener listener in charge of handling events.
598 * @return a robust 2D position estimator.
599 * @throws IllegalArgumentException if either provided sources or fingerprint is null
600 * or the number of provided sources is less than the required minimum.
601 */
602 public static RobustMixedPositionEstimator2D create(
603 final List<? extends RadioSourceLocated<Point2D>> sources,
604 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
605 final RobustMixedPositionEstimatorListener<Point2D> listener) {
606 return create(sources, fingerprint, listener, DEFAULT_ROBUST_METHOD);
607 }
608
609 /**
610 * Creates a robust 2D position estimator.
611 *
612 * @param sourceQualityScores quality scores corresponding to
613 * each provided located radio source.
614 * The larger the score value the better
615 * the quality of the radio source.
616 * @param fingerprintReadingQualityScores quality scores corresponding to readings
617 * within provided fingerprint. The larger
618 * the score the better the quality of the
619 * reading.
620 * @return a robust 2D position estimator.
621 */
622 public static RobustMixedPositionEstimator2D create(
623 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores) {
624 return create(sourceQualityScores, fingerprintReadingQualityScores, DEFAULT_ROBUST_METHOD);
625 }
626
627 /**
628 * Creates a robust 2D position estimator.
629 *
630 * @param sourceQualityScores quality scores corresponding to
631 * each provided located radio source.
632 * The larger the score value the better
633 * the quality of the radio source.
634 * @param fingerprintReadingQualityScores quality scores corresponding to readings
635 * within provided fingerprint. The larger
636 * the score the better the quality of the
637 * reading.
638 * @param sources located radio sources used for
639 * lateration.
640 * @return a robust 2D position estimator.
641 * @throws IllegalArgumentException if provided sources is null or the number of
642 * provided sources is less than the required minimum.
643 */
644 public static RobustMixedPositionEstimator2D create(
645 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
646 final List<? extends RadioSourceLocated<Point2D>> sources) {
647 return create(sourceQualityScores, fingerprintReadingQualityScores, sources, DEFAULT_ROBUST_METHOD);
648 }
649
650 /**
651 * Creates a robust 2D position estimator.
652 *
653 * @param sourceQualityScores quality scores corresponding to
654 * each provided located radio source.
655 * The larger the score value the better
656 * the quality of the radio source.
657 * @param fingerprintReadingQualityScores quality scores corresponding to readings
658 * within provided fingerprint. The larger
659 * the score the better the quality of the
660 * reading.
661 * @param fingerprint fingerprint containing
662 * readings at an unknown location for
663 * provided located radio sources.
664 * @return a robust 2D position estimator.
665 * @throws IllegalArgumentException if provided fingerprint is null.
666 */
667 public static RobustMixedPositionEstimator2D create(
668 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
669 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
670 return create(sourceQualityScores, fingerprintReadingQualityScores, fingerprint, DEFAULT_ROBUST_METHOD);
671 }
672
673 /**
674 * Creates a robust 2D position estimator.
675 *
676 * @param sourceQualityScores quality scores corresponding to
677 * each provided located radio source.
678 * The larger the score value the better
679 * the quality of the radio source.
680 * @param fingerprintReadingQualityScores quality scores corresponding to readings
681 * within provided fingerprint. The larger
682 * the score the better the quality of the
683 * reading.
684 * @param sources located radio sources used for
685 * lateration.
686 * @param fingerprint fingerprint containing
687 * readings at an unknown location for
688 * provided located radio sources.
689 * @return a robust 2D position estimator.
690 * @throws IllegalArgumentException if either provided sources or fingerprint is null
691 * or the number of provided sources is less than the required minimum.
692 */
693 public static RobustMixedPositionEstimator2D create(
694 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
695 final List<? extends RadioSourceLocated<Point2D>> sources,
696 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint) {
697 return create(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint,
698 DEFAULT_ROBUST_METHOD);
699 }
700
701 /**
702 * Creates a robust 2D position estimator.
703 *
704 * @param sourceQualityScores quality scores corresponding to
705 * each provided located radio source.
706 * The larger the score value the better
707 * the quality of the radio source.
708 * @param fingerprintReadingQualityScores quality scores corresponding to readings
709 * within provided fingerprint. The larger
710 * the score the better the quality of the
711 * reading.
712 * @param listener listener in charge of handling events.
713 * @return a robust 2D position estimator.
714 */
715 public static RobustMixedPositionEstimator2D create(
716 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
717 final RobustMixedPositionEstimatorListener<Point2D> listener) {
718 return create(sourceQualityScores, fingerprintReadingQualityScores, listener, DEFAULT_ROBUST_METHOD);
719 }
720
721 /**
722 * Creates a robust 2D position estimator.
723 *
724 * @param sourceQualityScores quality scores corresponding to
725 * each provided located radio source.
726 * The larger the score value the better
727 * the quality of the radio source.
728 * @param fingerprintReadingQualityScores quality scores corresponding to readings
729 * within provided fingerprint. The larger
730 * the score the better the quality of the
731 * reading.
732 * @param sources located radio sources used for
733 * lateration.
734 * @param listener listener in charge of handling events.
735 * @return a robust 2D position estimator.
736 * @throws IllegalArgumentException if provided sources is null or the number of
737 * provided sources is less than the required minimum.
738 */
739 public static RobustMixedPositionEstimator2D create(
740 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
741 final List<? extends RadioSourceLocated<Point2D>> sources,
742 final RobustMixedPositionEstimatorListener<Point2D> listener) {
743 return create(sourceQualityScores, fingerprintReadingQualityScores, sources, listener, DEFAULT_ROBUST_METHOD);
744 }
745
746 /**
747 * Creates a robust 2D position estimator.
748 *
749 * @param sourceQualityScores quality scores corresponding to
750 * each provided located radio source.
751 * The larger the score value the better
752 * the quality of the radio source.
753 * @param fingerprintReadingQualityScores quality scores corresponding to readings
754 * within provided fingerprint. The larger
755 * the score the better the quality of the
756 * reading.
757 * @param fingerprint fingerprint containing
758 * readings at an unknown location for
759 * provided located radio sources.
760 * @param listener listener in charge of handling events.
761 * @return a robust 2D position estimator.
762 * @throws IllegalArgumentException if provided fingerprint is null.
763 */
764 public static RobustMixedPositionEstimator2D create(
765 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
766 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
767 final RobustMixedPositionEstimatorListener<Point2D> listener) {
768 return create(sourceQualityScores, fingerprintReadingQualityScores, fingerprint, listener,
769 DEFAULT_ROBUST_METHOD);
770 }
771
772 /**
773 * Creates a robust 2D position estimator.
774 *
775 * @param sourceQualityScores quality scores corresponding to
776 * each provided located radio source.
777 * The larger the score value the better
778 * the quality of the radio source.
779 * @param fingerprintReadingQualityScores quality scores corresponding to readings
780 * within provided fingerprint. The larger
781 * the score the better the quality of the
782 * reading.
783 * @param sources located radio sources used for
784 * lateration.
785 * @param fingerprint fingerprint containing
786 * readings at an unknown location for
787 * provided located radio sources.
788 * @param listener listener in charge of handling events.
789 * @return a robust 2D position estimator.
790 * @throws IllegalArgumentException if either provided sources or fingerprint is null
791 * or the number of provided sources is less than the required minimum.
792 */
793 public static RobustMixedPositionEstimator2D create(
794 final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
795 final List<? extends RadioSourceLocated<Point2D>> sources,
796 final Fingerprint<? extends RadioSource, ? extends Reading<? extends RadioSource>> fingerprint,
797 final RobustMixedPositionEstimatorListener<Point2D> listener) {
798 return create(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint, listener,
799 DEFAULT_ROBUST_METHOD);
800 }
801
802 /**
803 * Sets positions, distances and standard deviations of distances on internal
804 * lateration solver.
805 *
806 * @param positions positions to be set.
807 * @param distances distances to be set.
808 * @param distanceStandardDeviations standard deviations of distances to be set.
809 * @param distanceQualityScores distance quality scores or null if not
810 * required.
811 */
812 @Override
813 protected void setPositionsDistancesDistanceStandardDeviationsAndQualityScores(
814 final List<Point2D> positions, List<Double> distances, final List<Double> distanceStandardDeviations,
815 final List<Double> distanceQualityScores) {
816 final var size = positions.size();
817 Point2D[] positionsArray = new InhomogeneousPoint2D[size];
818 positionsArray = positions.toArray(positionsArray);
819
820 final var distancesArray = new double[size];
821 final var distanceStandardDeviationsArray = new double[size];
822
823 double[] qualityScoresArray = null;
824 if (distanceQualityScores != null) {
825 qualityScoresArray = new double[size];
826 }
827
828 for (var i = 0; i < size; i++) {
829 distancesArray[i] = distances.get(i);
830 distanceStandardDeviationsArray[i] = distanceStandardDeviations.get(i);
831
832 if (qualityScoresArray != null) {
833 qualityScoresArray[i] = distanceQualityScores.get(i);
834 }
835 }
836
837 try {
838 laterationSolver.setPositionsDistancesAndStandardDeviations(positionsArray, distancesArray,
839 distanceStandardDeviationsArray);
840
841 if (qualityScoresArray != null) {
842 laterationSolver.setQualityScores(qualityScoresArray);
843 }
844 } catch (LockedException e) {
845 throw new IllegalArgumentException(e);
846 }
847 }
848 }