/*
    * Copyright (C) 2019 Alberto Irurueta Carro (alberto@irurueta.com)
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *         http://www.apache.org/licenses/LICENSE-2.0
    *
   * Unless required by applicable law or agreed to in writing, software
   * distributed under the License is distributed on an "AS IS" BASIS,
   * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   * See the License for the specific language governing permissions and
   * limitations under the License.
   */
  package com.irurueta.navigation.indoor.position;
  
  import com.irurueta.geometry.InhomogeneousPoint3D;
  import com.irurueta.geometry.Point3D;
  import com.irurueta.navigation.LockedException;
  import com.irurueta.navigation.indoor.RadioSource;
  import com.irurueta.navigation.indoor.RadioSourceLocated;
  import com.irurueta.navigation.indoor.RangingFingerprint;
  import com.irurueta.navigation.indoor.RangingReading;
  import com.irurueta.numerical.robust.RobustEstimatorMethod;
  
  import java.util.List;
  
  /**
   * Base class for robust ranging 3D position estimators using located radio sources and
   * their ranging readings at unknown locations.
   * These kind of estimators can be used to robustly determine the 3D position of a given
   * device by getting ranging readings at an unknown location of different radio sources
   * whose locations are known.
   * Implementations of this class should be able to detect and discard outliers in order
   * to find the best solution.
   */
  @SuppressWarnings("DuplicatedCode")
  public abstract class RobustRangingPositionEstimator3D extends RobustRangingPositionEstimator<Point3D> {
  
      /**
       * Constructor.
       */
      protected RobustRangingPositionEstimator3D() {
          super();
          preliminarySubsetSize = getMinRequiredSources();
      }
  
      /**
       * Constructor.
       *
       * @param listener listener in charge of handling events.
       */
      protected RobustRangingPositionEstimator3D(final RobustRangingPositionEstimatorListener<Point3D> listener) {
          super(listener);
          preliminarySubsetSize = getMinRequiredSources();
      }
  
      /**
       * Gets minimum required number of located radio sources to perform lateration.
       *
       * @return minimum required number of located radio sources to perform lateration.
       */
      @Override
      public int getMinRequiredSources() {
          return Point3D.POINT3D_HOMOGENEOUS_COORDINATES_LENGTH;
      }
  
      /**
       * Creates a robust 3D position estimator.
       *
       * @param method robust estimator method.
       * @return a robust 3D position estimator.
       */
      public static RobustRangingPositionEstimator3D create(final RobustEstimatorMethod method) {
          return switch (method) {
              case RANSAC -> new RANSACRobustRangingPositionEstimator3D();
              case LMEDS -> new LMedSRobustRangingPositionEstimator3D();
              case MSAC -> new MSACRobustRangingPositionEstimator3D();
              case PROSAC -> new PROSACRobustRangingPositionEstimator3D();
              default -> new PROMedSRobustRangingPositionEstimator3D();
          };
      }
  
      /**
       * Creates a robust 3D position estimator.
       *
       * @param sources located radio sources used for lateration.
       * @param method  robust estimator method.
       * @return a robust 3D position estimator.
       * @throws IllegalArgumentException if provided sources is null or the number of
       *                                  provided sources is less than the required minimum.
       */
      public static RobustRangingPositionEstimator3D create(
              final List<? extends RadioSourceLocated<Point3D>> sources, final RobustEstimatorMethod method) {
          return switch (method) {
              case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources);
              case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources);
              case MSAC -> new MSACRobustRangingPositionEstimator3D(sources);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources);
             default -> new PROMedSRobustRangingPositionEstimator3D(sources);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @param method      robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(fingerprint);
             default -> new PROMedSRobustRangingPositionEstimator3D(fingerprint);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sources     located radio sources used for lateration.
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @param method      robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources, fingerprint);
             default -> new PROMedSRobustRangingPositionEstimator3D(sources, fingerprint);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param listener listener in charge of handling events.
      * @param method   robust estimator method.
      * @return a robust 3D position estimator.
      */
     public static RobustRangingPositionEstimator3D create(
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sources  located radio sources used for lateration.
      * @param listener listener in charge of handling events.
      * @param method   robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided sources is null or the number of
      *                                  provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources, listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(sources, listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @param listener    listener in charge of handling events.
      * @param method      robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint, listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint, listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint, listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(fingerprint, listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(fingerprint, listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sources     located radio sources used for lateration.
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @param listener    listener in charge of handling events.
      * @param method      robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint, listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(sources, fingerprint, listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D();
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D();
             case MSAC -> new MSACRobustRangingPositionEstimator3D();
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided sources is null or the number of
      *                                  provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final List<? extends RadioSourceLocated<Point3D>> sources, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(sources);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores, sources);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
                     sources);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores, fingerprint);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
                     fingerprint);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores, sources, fingerprint);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
                     sources, fingerprint);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param listener                        listener in charge of handling events.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores, listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
                     listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @param listener                        listener in charge of handling events.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided sources is null or the number of
      *                                  provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores, sources, listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
                     sources, listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @param listener                        listener in charge of handling events.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(fingerprint, listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(fingerprint, listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(fingerprint, listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores, fingerprint, listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
                     fingerprint, listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @param listener                        listener in charge of handling events.
      * @param method                          robust estimator method.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustRangingPositionEstimatorListener<Point3D> listener, final RobustEstimatorMethod method) {
         return switch (method) {
             case RANSAC -> new RANSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
             case LMEDS -> new LMedSRobustRangingPositionEstimator3D(sources, fingerprint, listener);
             case MSAC -> new MSACRobustRangingPositionEstimator3D(sources, fingerprint, listener);
             case PROSAC -> new PROSACRobustRangingPositionEstimator3D(sourceQualityScores,
                     fingerprintReadingQualityScores, sources, fingerprint, listener);
             default -> new PROMedSRobustRangingPositionEstimator3D(sourceQualityScores, fingerprintReadingQualityScores,
                     sources, fingerprint, listener);
         };
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @return a robust 3D position estimator.
      */
     public static RobustRangingPositionEstimator3D create() {
         return create(DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sources located radio sources used for lateration.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided sources is null or the number of
      *                                  provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(final List<? extends RadioSourceLocated<Point3D>> sources) {
         return create(sources, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint) {
         return create(fingerprint, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sources     located radio sources used for lateration.
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint) {
         return create(sources, fingerprint, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param listener listener in charge of handling events.
      * @return a robust 3D position estimator.
      */
     public static RobustRangingPositionEstimator3D create(
             final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(listener, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sources  located radio sources used for lateration.
      * @param listener listener in charge of handling events.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided sources is null or the number of
      *                                  provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(sources, listener, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @param listener    listener in charge of handling events.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(fingerprint, listener, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sources     located radio sources used for lateration.
      * @param fingerprint fingerprint containing ranging readings at an unknown
      *                    location for provided located radio sources.
      * @param listener    listener in charge of handling events.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(sources, fingerprint, listener, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @return a robust 3D position estimator.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided sources is null or the number of
      *                                  provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             List<? extends RadioSourceLocated<Point3D>> sources) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, sources, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, fingerprint, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint,
                 DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param listener                        listener in charge of handling events.
      * @return a robust 3D position estimator.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, listener, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @param listener                        listener in charge of handling events.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided sources is null or the number of
      *                                  provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, sources, listener, DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @param listener                        listener in charge of handling events.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if provided fingerprint is null.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint,
             final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, fingerprint, listener,
                 DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Creates a robust 3D position estimator.
      *
      * @param sourceQualityScores             quality scores corresponding to
      *                                        each provided located radio source.
      *                                        The larger the score value the better
      *                                        the quality of the radio source.
      * @param fingerprintReadingQualityScores quality scores corresponding to readings
      *                                        within provided fingerprint. The larger
      *                                        the score the better the quality of the
      *                                        reading.
      * @param sources                         located radio sources used for
      *                                        lateration.
      * @param fingerprint                     fingerprint containing ranging
      *                                        readings at an unknown location for
      *                                        provided located radio sources.
      * @param listener                        listener in charge of handling events.
      * @return a robust 3D position estimator.
      * @throws IllegalArgumentException if either provided sources or fingerprint is null
      *                                  or the number of provided sources is less than the required minimum.
      */
     public static RobustRangingPositionEstimator3D create(
             final double[] sourceQualityScores, final double[] fingerprintReadingQualityScores,
             final List<? extends RadioSourceLocated<Point3D>> sources,
             final RangingFingerprint<? extends RadioSource, ? extends RangingReading<?
                     extends RadioSource>> fingerprint, final RobustRangingPositionEstimatorListener<Point3D> listener) {
         return create(sourceQualityScores, fingerprintReadingQualityScores, sources, fingerprint, listener,
                 DEFAULT_ROBUST_METHOD);
     }
 
     /**
      * Sets positions, distances and standard deviations of distances on internal
      * lateration solver.
      *
      * @param positions                  positions to be set.
      * @param distances                  distances to be set.
      * @param distanceStandardDeviations standard deviations of distances to be set.
      * @param distanceQualityScores      distance quality scores or null if not
      *                                   required.
      */
     @Override
     @SuppressWarnings("Duplicates")
     protected void setPositionsDistancesDistanceStandardDeviationsAndQualityScores(
             final List<Point3D> positions, List<Double> distances, final List<Double> distanceStandardDeviations,
             final List<Double> distanceQualityScores) {
         final var size = positions.size();
         Point3D[] positionsArray = new InhomogeneousPoint3D[size];
         positionsArray = positions.toArray(positionsArray);
 
         final var distancesArray = new double[size];
         final var distanceStandardDeviationsArray = new double[size];
 
         double[] qualityScoresArray = null;
         if (distanceQualityScores != null) {
             qualityScoresArray = new double[size];
         }
 
         for (var i = 0; i < size; i++) {
             distancesArray[i] = distances.get(i);
             distanceStandardDeviationsArray[i] = distanceStandardDeviations.get(i);
 
             if (qualityScoresArray != null) {
                 qualityScoresArray[i] = distanceQualityScores.get(i);
             }
         }
 
         try {
             laterationSolver.setPositionsDistancesAndStandardDeviations(positionsArray, distancesArray,
                     distanceStandardDeviationsArray);
 
             if (qualityScoresArray != null) {
                 laterationSolver.setQualityScores(qualityScoresArray);
             }
         } catch (final LockedException e) {
             throw new IllegalArgumentException(e);
         }
     }
 }