/*
    * Copyright (C) 2018 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.radiosource;
  
  import com.irurueta.algebra.AlgebraException;
  import com.irurueta.algebra.Matrix;
  import com.irurueta.geometry.Point;
  import com.irurueta.navigation.LockedException;
  import com.irurueta.navigation.NotReadyException;
  import com.irurueta.navigation.indoor.RadioSource;
  import com.irurueta.navigation.indoor.RadioSourceLocated;
  import com.irurueta.navigation.indoor.RangingAndRssiReadingLocated;
  import com.irurueta.navigation.indoor.RangingReadingLocated;
  import com.irurueta.navigation.indoor.RssiReadingLocated;
  import com.irurueta.navigation.indoor.Utils;
  import com.irurueta.numerical.robust.InliersData;
  import com.irurueta.numerical.robust.RobustEstimatorException;
  import com.irurueta.numerical.robust.RobustEstimatorMethod;
  
  import java.util.ArrayList;
  import java.util.List;
  
  /**
   * This is an abstract class to robustly estimate position, transmitted power and path-loss
   * exponent of a radio source (e.g. Wi-Fi access point or bluetooth beacon), by discarding
   * outliers and assuming that the ranging data is available to obtain position with
   * greater accuracy and that the radio source emits isotropically following the
   * expression below:
   * Pr = Pt*Gt*Gr*lambda^2 / (4*pi*d)^2,
   * where Pr is the received power (expressed in mW),
   * Gt is the Gain of the transmission antenna
   * Gr is the Gain of the receiver antenna
   * d is the distance between emitter and receiver
   * and lambda is the wavelength and is equal to: lambda = c / f,
   * where c is the speed of light
   * and f is the carrier frequency of the radio signal.
   * <p>
   * Implementations of this class sequentially estimate position and then remaining
   * parameters. First ranging data is used to robustly estimate position and then
   * remaining parameters are robustly estimated using former estimated position as
   * an initial guess.
   * <p>
   * Because usually information about the antenna of the radio source cannot be
   * retrieved (because many measurements are made on unknown devices where
   * physical access is not possible), this implementation will estimate the
   * equivalent transmitted power as: Pte = Pt * Gt * Gr.
   * If Readings contain RSSI standard deviations, those values will be used,
   * otherwise it will be assumed an RSSI standard deviation of 1 dB.
   * <p>
   * Implementations of this class might produce more stable positions of estimated
   * radio sources than implementations of RobustRangingAndRssiRadioSourceEstimator.
   *
   * @param <S> a {@link RadioSource} type.
   * @param <P> a {@link Point} type.
   */
  @SuppressWarnings("DuplicatedCode")
  public abstract class SequentialRobustRangingAndRssiRadioSourceEstimator<S extends RadioSource, P extends Point<P>> {
  
      /**
       * Default robust estimator method for robust position estimation using ranging
       * data when no robust method is provided.
       */
      public static final RobustEstimatorMethod DEFAULT_PANGING_ROBUST_METHOD = RobustEstimatorMethod.PROMEDS;
  
      /**
       * Default robust estimator method for path-loss exponent and transmitted power
       * estimation using RSSI data when no robust method is provided.
       */
      public static final RobustEstimatorMethod DEFAULT_RSSI_ROBUST_METHOD = RobustEstimatorMethod.PROMEDS;
  
      /**
       * Indicates that result is refined by default using all found inliers.
       */
      public static final boolean DEFAULT_REFINE_RESULT = true;
  
      /**
       * Indicates that covariance is kept by default after refining result.
       */
      public static final boolean DEFAULT_KEEP_COVARIANCE = true;
  
      /**
       * Default amount of progress variation before notifying a change in estimation progress.
       * By default, this is set to 5%.
       */
      public static final float DEFAULT_PROGRESS_DELTA = 0.05f;
  
     /**
      * Minimum allowed value for progress delta.
      */
     public static final float MIN_PROGRESS_DELTA = 0.0f;
 
     /**
      * Maximum allowed value for progress delta.
      */
     public static final float MAX_PROGRESS_DELTA = 1.0f;
 
     /**
      * Constant defining default confidence of the estimated result, which is
      * 99%. This means that with a probability of 99% estimation will be
      * accurate because chosen sub-samples will be inliers.
      */
     public static final double DEFAULT_CONFIDENCE = 0.99;
 
     /**
      * Default maximum allowed number of iterations.
      */
     public static final int DEFAULT_MAX_ITERATIONS = 5000;
 
     /**
      * Minimum allowed confidence value.
      */
     public static final double MIN_CONFIDENCE = 0.0;
 
     /**
      * Maximum allowed confidence value.
      */
     public static final double MAX_CONFIDENCE = 1.0;
 
     /**
      * Minimum allowed number of iterations.
      */
     public static final int MIN_ITERATIONS = 1;
 
     /**
      * Indicates that by default position covariances of readings must be taken into account to increase
      * the amount of standard deviation of each ranging measure by the amount of position standard deviation
      * assuming that both measures are statistically independent.
      */
     public static final boolean DEFAULT_USE_READING_POSITION_COVARIANCES = true;
 
     /**
      * Internal robust estimator for position estimation.
      */
     protected RobustRangingRadioSourceEstimator<S, P> rangingEstimator;
 
     /**
      * Internal robust estimator for path-loss exponent and transmitted power
      * estimation.
      */
     protected RobustRssiRadioSourceEstimator<S, P> rssiEstimator;
 
     /**
      * Robust method used for robust position estimation using ranging data.
      */
     protected RobustEstimatorMethod rangingRobustMethod = DEFAULT_PANGING_ROBUST_METHOD;
 
     /**
      * Robust method used for path-loss exponent and transmitted power estimation
      * using RSSI data.
      */
     protected RobustEstimatorMethod rssiRobustMethod = DEFAULT_RSSI_ROBUST_METHOD;
 
     /**
      * Size of subsets to be checked during ranging robust estimation.
      */
     protected int rangingPreliminarySubsetSize;
 
     /**
      * Size of subsets to be checked during RSSI robust estimation.
      */
     protected int rssiPreliminarySubsetSize;
 
     /**
      * Threshold to determine when samples are inliers or not used during robust
      * position estimation.
      * If not defined, default threshold will be used.
      */
     protected Double rangingThreshold;
 
     /**
      * Threshold to determine when samples are inliers or not used during robust
      * path-loss exponent and transmitted power estimation.
      */
     protected Double rssiThreshold;
 
     /**
      * Signal readings belonging to the same radio source to be estimated.
      */
     private List<? extends RangingAndRssiReadingLocated<S, P>> readings;
 
     /**
      * Quality scores corresponding to each provided sample.
      * The larger the score value the better the quality of the sample.
      */
     private double[] qualityScores;
 
     /**
      * Listener to be notified of events such as when estimation starts, ends or its
      * progress significantly changes.
      */
     private SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener;
 
     /**
      * Estimated position.
      */
     private P estimatedPosition;
 
     /**
      * Indicates if this instance is locked because estimation is being executed.
      */
     private boolean locked;
 
     /**
      * Amount of progress variation before notifying a progress change during estimation.
      */
     private float progressDelta = DEFAULT_PROGRESS_DELTA;
 
     /**
      * Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent
      * to 100%) for robust position estimation. The amount of confidence indicates the
      * probability that the estimated result is correct. Usually this value will be
      * close to 1.0, but not exactly 1.0.
      */
     private double rangingConfidence = DEFAULT_CONFIDENCE;
 
     /**
      * Amount of confidence expressed as a value between 0.0 and 1.0 (which is equivalent
      * to 100%) for robust path-loss exponent and transmitted power estimation. The amount
      * of confidence indicates the probability that the estimated result is correct.
      * Usually this value will be close to 1.0, but not exactly 1.0.
      */
     private double rssiConfidence = DEFAULT_CONFIDENCE;
 
     /**
      * Maximum allowed number of iterations for robust position estimation. When the
      * maximum number of iterations is exceeded, an approximate result might be
      * available for retrieval.
      */
     private int rangingMaxIterations = DEFAULT_MAX_ITERATIONS;
 
     /**
      * Maximum allowed number of iterations for robust path-loss exponent and transmitted
      * power estimation. When the maximum number of iterations is exceeded, an
      * approximate result might be available for retrieval.
      */
     private int rssiMaxIterations = DEFAULT_MAX_ITERATIONS;
 
     /**
      * Indicates whether result must be refined using found inliers.
      * If true, inliers will be computed and kept in any implementation regardless of the
      * settings.
      */
     private boolean refineResult = DEFAULT_REFINE_RESULT;
 
     /**
      * Indicates whether covariance must be kept after refining result.
      * This setting is only taken into account if result is refined.
      */
     private boolean keepCovariance = DEFAULT_KEEP_COVARIANCE;
 
     /**
      * Covariance of estimated position, power and/or path-loss exponent.
      * This is only available when result has been refined and covariance is kept.
      */
     private Matrix covariance;
 
     /**
      * Covariance of estimated position.
      * Size of this matrix will depend on the number of dimensions
      * of estimated position (either 2 or 3).
      * This value will only be available when position estimation is enabled.
      */
     private Matrix estimatedPositionCovariance;
 
     /**
      * Initially transmitted power to start the estimation of radio source
      * transmitted power.
      * If not defined, average value of received power readings will be used.
      */
     private Double initialTransmittedPowerdBm;
 
     /**
      * Initial position to start the estimation of radio source position.
      * If not defined, centroid of provided located readings will be used.
      */
     private P initialPosition;
 
     /**
      * Initial exponent typically used on free space for path loss propagation in
      * terms of distance.
      * On different environments path loss exponent might have different values:
      * - Free space: 2.0
      * - Urban Area: 2.7 to 3.5
      * - Suburban Area: 3 to 5
      * - Indoor (line-of-sight): 1.6 to 1.8
      * <p>
      * If path loss exponent estimation is enabled, estimation will start at this
      * value and will converge to the most appropriate value.
      * If path loss exponent estimation is disabled, this value will be assumed
      * to be exact and the estimated path loss exponent will be equal to this
      * value.
      */
     private double initialPathLossExponent = RangingAndRssiRadioSourceEstimator.DEFAULT_PATH_LOSS_EXPONENT;
 
     /**
      * Indicates whether transmitted power estimation is enabled or not.
      */
     private boolean transmittedPowerEstimationEnabled =
             RangingAndRssiRadioSourceEstimator.DEFAULT_TRANSMITTED_POWER_ESTIMATION_ENABLED;
 
     /**
      * Indicates whether path loss estimation is enabled or not.
      */
     private boolean pathLossEstimationEnabled =
             RangingAndRssiRadioSourceEstimator.DEFAULT_PATHLOSS_ESTIMATION_ENABLED;
 
     /**
      * Estimated transmitted power expressed in dBm's.
      */
     private double estimatedTransmittedPowerdBm;
 
     /**
      * Estimated exponent typically used on free space for path loss propagation in
      * terms of distance.
      * On different environments path loss exponent might have different values:
      * - Free space: 2.0
      * - Urban Area: 2.7 to 3.5
      * - Suburban Area: 3 to 5
      * - Indoor (line-of-sight): 1.6 to 1.8
      * If path loss exponent estimation is not enabled, this value will always be equal to
      * {@link RssiRadioSourceEstimator#DEFAULT_PATH_LOSS_EXPONENT}
      */
     private double estimatedPathLossExponent = RangingAndRssiRadioSourceEstimator.DEFAULT_PATH_LOSS_EXPONENT;
 
     /**
      * Variance of estimated transmitted power.
      * This value will only be available when transmitted power
      * estimation is enabled.
      */
     private Double estimatedTransmittedPowerVariance;
 
     /**
      * Variance of estimated path loss exponent.
      * This value will only be available when path-loss
      * exponent estimation is enabled.
      */
     private Double estimatedPathLossExponentVariance;
 
     /**
      * Data related to inliers found after estimation.
      */
     private InliersData inliersData;
 
     /**
      * Indicates whether position covariances of readings must be taken into account to increase
      * the amount of standard deviation of each ranging measure by the amount of position standard deviation
      * assuming that both measures are statistically independent.
      */
     private boolean useReadingPositionCovariances = DEFAULT_USE_READING_POSITION_COVARIANCES;
 
     /**
      * Indicates whether an homogeneous ranging linear solver is used to estimate preliminary positions.
      */
     private boolean useHomogeneousRangingLinearSolver =
             RangingRadioSourceEstimator.DEFAULT_USE_HOMOGENEOUS_LINEAR_SOLVER;
 
     /**
      * Constructor.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator() {
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings signal readings belonging to the same radio source.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings) {
         internalSetReadings(readings);
     }
 
     /**
      * Constructor.
      *
      * @param listener listener in charge of attending events raised by this instance.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this.listener = listener;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings signal readings belonging to the same radio source.
      * @param listener listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings);
         this.listener = listener;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings        signal readings belonging to the same radio source.
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings, final P initialPosition) {
         this(readings);
         this.initialPosition = initialPosition;
     }
 
     /**
      * Constructor.
      *
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(final P initialPosition) {
         this.initialPosition = initialPosition;
     }
 
     /**
      * Constructor.
      *
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @param listener        listener in charge of attending events raised by this instance.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final P initialPosition, final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(listener);
         this.initialPosition = initialPosition;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings        signal readings belonging to the same radio source.
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @param listener        listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings, final P initialPosition,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, listener);
         this.initialPosition = initialPosition;
     }
 
     /**
      * Constructor.
      *
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(final Double initialTransmittedPowerdBm) {
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final Double initialTransmittedPowerdBm) {
         this(readings);
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      *
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   listener in charge of attending events raised by this instance.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(listener);
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings, final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, listener);
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings, final P initialPosition,
             final Double initialTransmittedPowerdBm) {
         this(readings);
         this.initialPosition = initialPosition;
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      *
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final P initialPosition, final Double initialTransmittedPowerdBm) {
         this.initialPosition = initialPosition;
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      *
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   in charge of attending events raised by this instance.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final P initialPosition, final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(listener);
         this.initialPosition = initialPosition;
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings, final P initialPosition,
             final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, listener);
         this.initialPosition = initialPosition;
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings, final P initialPosition,
             final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
         this(readings, initialPosition, initialTransmittedPowerdBm);
         this.initialPathLossExponent = initialPathLossExponent;
     }
 
     /**
      * Constructor.
      *
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final P initialPosition, final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
         this(initialPosition, initialTransmittedPowerdBm);
         this.initialPathLossExponent = initialPathLossExponent;
     }
 
     /**
      * Constructor.
      *
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      * @param listener                   listener in charge of attending events raised by this instance.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final P initialPosition, final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(initialPosition, initialTransmittedPowerdBm, listener);
         this.initialPathLossExponent = initialPathLossExponent;
     }
 
     /**
      * Constructors.
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final List<? extends RangingAndRssiReadingLocated<S, P>> readings, final P initialPosition,
             final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, initialPosition, initialTransmittedPowerdBm, listener);
         this.initialPathLossExponent = initialPathLossExponent;
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided sample.
      *                      The larger the score value the better the quality of
      *                      the sample.
      * @throws IllegalArgumentException if quality scores is null, or length of
      *                                  quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(final double[] qualityScores) {
         this();
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores quality scores corresponding to each provided sample.
      *                      The larger the score value the better the quality of
      *                      the sample.
      * @param readings      signal readings belonging to the same radio source.
      * @throws IllegalArgumentException if readings are not valid, quality scores is
      *                                  null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings) {
         this(readings);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores quality scores corresponding to each provided sample.
      *                      The larger the score value the better the quality of
      *                      the sample.
      * @param listener      listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores quality scores corresponding to each provided sample.
      *                      The larger the score value the better the quality of
      *                      the sample.
      * @param readings      signal readings belonging to the same radio source.
      * @param listener      listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid, quality scores is
      *                                  null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores   quality scores corresponding to each provided sample.
      *                        The larger the score value the better the quality of
      *                        the sample.
      * @param readings        signal readings belonging to the same radio source.
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @throws IllegalArgumentException if readings are not valid, quality scores is
      *                                  null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final P initialPosition) {
         this(readings, initialPosition);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided sample.
      *                        The larger the score value the better the quality of
      *                        the sample.
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final P initialPosition) {
         this(initialPosition);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores   quality scores corresponding to each provided sample.
      *                        The larger the score value the better the quality of
      *                        the sample.
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @param listener        listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final P initialPosition,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(initialPosition, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores   quality scores corresponding to each provided sample.
      *                        The larger the score value the better the quality of
      *                        the sample.
      * @param readings        signal readings belonging to the same radio source.
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @param listener        listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid, quality scores
      *                                  is null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final P initialPosition, final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, initialPosition, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores              quality scores corresponding to each provided sample.
      *                                   The larger the score value the better the quality of
      *                                   the sample.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final Double initialTransmittedPowerdBm) {
         this(initialTransmittedPowerdBm);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores              quality scores corresponding to each provided sample.
      *                                   The larger the score value the better the quality of
      *                                   the sample.
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @throws IllegalArgumentException if readings are not valid, quality scores
      *                                  is null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final Double initialTransmittedPowerdBm) {
         this(readings, initialTransmittedPowerdBm);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores              quality scores corresponding to each provided sample.
      *                                   The larger the score value the better the quality of
      *                                   the sample.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(initialTransmittedPowerdBm, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid, quality scores
      *                                  is null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, initialTransmittedPowerdBm, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @throws IllegalArgumentException if readings are not valid, quality scores
      *                                  is null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final P initialPosition, final Double initialTransmittedPowerdBm) {
         this(readings, initialPosition, initialTransmittedPowerdBm);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final P initialPosition, final Double initialTransmittedPowerdBm) {
         this(initialPosition, initialTransmittedPowerdBm);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final P initialPosition, final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(initialPosition, initialTransmittedPowerdBm, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid, quality scores
      *                                  is null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final P initialPosition, final Double initialTransmittedPowerdBm,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, initialPosition, initialTransmittedPowerdBm, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      * @throws IllegalArgumentException if readings are not valid, quality scores
      *                                  is null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final P initialPosition, final Double initialTransmittedPowerdBm, final double initialPathLossExponent) {
         this(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final P initialPosition, final Double initialTransmittedPowerdBm,
             final double initialPathLossExponent) {
         this(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructor.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if quality scores is null, or length
      *                                  of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final P initialPosition, final Double initialTransmittedPowerdBm,
             final double initialPathLossExponent,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Constructors.
      * Sets signal readings belonging to the same radio source.
      *
      * @param qualityScores              quality scores corresponding to each provided
      *                                   sample. The larger the score value the better
      *                                   the quality of the sample.
      * @param readings                   signal readings belonging to the same radio source.
      * @param initialPosition            initial position to start the estimation of radio
      *                                   source position.
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted power
      *                                   (expressed in dBm's).
      * @param initialPathLossExponent    initial path loss exponent. A typical value is 2.0.
      * @param listener                   listener in charge of attending events raised by this instance.
      * @throws IllegalArgumentException if readings are not valid, quality scores
      *                                  is null, or length of quality scores is less than required minimum.
      */
     protected SequentialRobustRangingAndRssiRadioSourceEstimator(
             final double[] qualityScores, final List<? extends RangingAndRssiReadingLocated<S, P>> readings,
             final P initialPosition, final Double initialTransmittedPowerdBm, final double initialPathLossExponent,
             final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener) {
         this(readings, initialPosition, initialTransmittedPowerdBm, initialPathLossExponent, listener);
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Indicates whether estimator is locked during estimation.
      *
      * @return true if estimator is locked, false otherwise.
      */
     public boolean isLocked() {
         return locked;
     }
 
     /**
      * Returns amount of progress variation before notifying a progress change during
      * estimation.
      *
      * @return amount of progress variation before notifying a progress change during
      * estimation.
      */
     public float getProgressDelta() {
         return progressDelta;
     }
 
     /**
      * Sets amount of progress variation before notifying a progress change during
      * estimation.
      *
      * @param progressDelta amount of progress variation before notifying a progress
      *                      change during estimation.
      * @throws IllegalArgumentException if progress delta is less than zero or greater than 1.
      * @throws LockedException          if this estimator is locked.
      */
     public void setProgressDelta(final float progressDelta) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (progressDelta < MIN_PROGRESS_DELTA || progressDelta > MAX_PROGRESS_DELTA) {
             throw new IllegalArgumentException();
         }
         this.progressDelta = progressDelta;
     }
 
     /**
      * Gets robust method used for robust position estimation using ranging data.
      *
      * @return robust method used for robust position estimation.
      */
     public RobustEstimatorMethod getRangingRobustMethod() {
         return rangingRobustMethod;
     }
 
     /**
      * Sets robust method used for robust position estimation using ranging data.
      *
      * @param rangingRobustMethod robust method used for robust position estimation.
      * @throws LockedException if estimator is locked.
      */
     public void setRangingRobustMethod(final RobustEstimatorMethod rangingRobustMethod) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.rangingRobustMethod = rangingRobustMethod;
     }
 
     /**
      * Gets robust method used for path-loss exponent and transmitted power estimation
      * using RSSI data.
      *
      * @return robust method used for path-loss exponent and transmitted power
      * estimation.
      */
     public RobustEstimatorMethod getRssiRobustMethod() {
         return rssiRobustMethod;
     }
 
     /**
      * Sets robust method used for path-loss exponent and transmitted power estimation
      * using RSSI data.
      *
      * @param rssiRobustMethod robust method used for path-loss exponent and transmitted
      *                         power estimation.
      * @throws LockedException if estimator is locked.
      */
     public void setRssiRobustMethod(final RobustEstimatorMethod rssiRobustMethod) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.rssiRobustMethod = rssiRobustMethod;
     }
 
     /**
      * Gets size of subsets to be checked during ranging robust estimation.
      *
      * @return size of subsets to be checked during ranging robust estimation.
      */
     public int getRangingPreliminarySubsetSize() {
         return rangingPreliminarySubsetSize;
     }
 
     /**
      * Sets size of subsets to be checked during ranging robust estimation.
      *
      * @param rangingPreliminarySubsetSize size of subsets to be checked during
      *                                     ranging robust estimation.
      * @throws LockedException          if estimator is locked.
      * @throws IllegalArgumentException if provided value is less than {@link #getMinReadings()}.
      */
     public void setRangingPreliminarySubsetSize(final int rangingPreliminarySubsetSize) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (rangingPreliminarySubsetSize < getMinReadings()) {
             throw new IllegalArgumentException();
         }
 
         this.rangingPreliminarySubsetSize = rangingPreliminarySubsetSize;
     }
 
     /**
      * Gets size of subsets to be checked during RSSI robust estimation.
      *
      * @return size of subsets to be checked during RSSI robust estimation.
      */
     public int getRssiPreliminarySubsetSize() {
         return rssiPreliminarySubsetSize;
     }
 
     /**
      * Sets size of subsets to be checked during RSSI robust estimation.
      *
      * @param rssiPreliminarySubsetSize size of subsets to be checked during
      *                                  RSSI robust estimation.
      * @throws LockedException          if estimator is locked.
      * @throws IllegalArgumentException if provided value is less than {@link #getMinReadings()}.
      */
     public void setRssiPreliminarySubsetSize(final int rssiPreliminarySubsetSize) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (rssiPreliminarySubsetSize < getMinReadings()) {
             throw new IllegalArgumentException();
         }
 
         this.rssiPreliminarySubsetSize = rssiPreliminarySubsetSize;
     }
 
     /**
      * Gets threshold to determine when samples are inliers or not, used during robust
      * position estimation.
      * If not defined, default threshold will be used.
      *
      * @return threshold for ranging estimation or null.
      */
     public Double getRangingThreshold() {
         return rangingThreshold;
     }
 
     /**
      * Sets threshold to determine when samples are inliers or not, used during robust
      * position estimation.
      * If not defined, default threshold will be used.
      *
      * @param rangingThreshold threshold for ranging estimation or null.
      * @throws LockedException if estimator is locked.
      */
     public void setRangingThreshold(final Double rangingThreshold) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.rangingThreshold = rangingThreshold;
     }
 
     /**
      * Gets threshold to determine when samples are inliers or not, used during robust
      * path-loss exponent and transmitted power estimation.
      * If not defined, default threshold will be used.
      *
      * @return threshold for RSSI estimation or null.
      */
     public Double getRssiThreshold() {
         return rssiThreshold;
     }
 
     /**
      * Sets threshold to determine when samples are inliers or not, used during robust
      * path-loss exponent and transmitted power estimation.
      * If not defined, default threshold will be used.
      *
      * @param rssiThreshold threshold for RSSI estimation or null.
      * @throws LockedException if estimator is locked.
      */
     public void setRssiThreshold(final Double rssiThreshold) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.rssiThreshold = rssiThreshold;
     }
 
     /**
      * Returns amount of confidence expressed as a value between 0.0 and 1.0
      * (which is equivalent to 100%) for robust position estimation. The amount of
      * confidence indicates the probability that the estimated result is correct.
      * Usually this value will be close to 1.0, but not exactly 1.0.
      *
      * @return amount of confidence for robust position estimation as a value
      * between 0.0 and 1.0.
      */
     public double getRangingConfidence() {
         return rangingConfidence;
     }
 
     /**
      * Sets amount of confidence expressed as a value between 0.0 and 1.0 (which is
      * equivalent to 100%) for robust position estimation. The amount of confidence
      * indicates the probability that the estimated result is correct. Usually this
      * value will be close to 1.0, but not exactly 1.0.
      *
      * @param rangingConfidence confidence to be set for robust position estimation
      *                          as a value between 0.0 and 1.0.
      * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
      * @throws LockedException          if estimator is locked.
      */
     public void setRangingConfidence(final double rangingConfidence) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (rangingConfidence < MIN_CONFIDENCE || rangingConfidence > MAX_CONFIDENCE) {
             throw new IllegalArgumentException();
         }
         this.rangingConfidence = rangingConfidence;
     }
 
     /**
      * Returns amount of confidence expressed as a value between 0.0 and 1.0
      * (which is equivalent to 100%) for path-loss exponent and transmitted power
      * estimation. The amount of confidence indicates the probability that the
      * estimated result is correct.
      * Usually this value will be close to 1.0, but not exactly 1.0.
      *
      * @return amount of confidence for robust path-loss exponent and transmitted power
      * estimation as a value between 0.0 and 1.0.
      */
     public double getRssiConfidence() {
         return rssiConfidence;
     }
 
     /**
      * Sets amount of confidence expressed as a value between 0.0 and 1.0
      * (which is equivalent to 100%) for path-loss exponent and transmitted power
      * estimation. The amount of confidence indicates the probability that the
      * estimated result is correct. Usually this value will be close to 10.0, but
      * not exactly 1.0.
      *
      * @param rssiConfidence confidence to be set for robust path-loss exponent and
      *                       transmitted power estimation as a value between 0.0 and
      *                       1.0.
      * @throws IllegalArgumentException if provided value is not between 0.0 and 1.0.
      * @throws LockedException          if estimator is locked.
      */
     public void setRssiConfidence(final double rssiConfidence) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (rssiConfidence < MIN_CONFIDENCE || rssiConfidence > MAX_CONFIDENCE) {
             throw new IllegalArgumentException();
         }
         this.rssiConfidence = rssiConfidence;
     }
 
     /**
      * Returns maximum allowed number of iterations for robust position estimation. If
      * maximum allowed number of iterations is achieved without converging to a result
      * when calling estimate(), a RobustEstimatorException will be raised.
      *
      * @return maximum allowed number of iterations for position estimation.
      */
     public int getRangingMaxIterations() {
         return rangingMaxIterations;
     }
 
     /**
      * Sets maximum allowed number of iterations for robust position estimation. When
      * the maximum number of iterations is exceeded, an approximate result might be
      * available for retrieval.
      *
      * @param rangingMaxIterations maximum allowed number of iterations to be set
      *                             for position estimation.
      * @throws IllegalArgumentException if provided value is less than 1.
      * @throws LockedException          if this estimator is locked.
      */
     public void setRangingMaxIterations(final int rangingMaxIterations) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (rangingMaxIterations < MIN_ITERATIONS) {
             throw new IllegalArgumentException();
         }
         this.rangingMaxIterations = rangingMaxIterations;
     }
 
     /**
      * Returns maximum allowed number of iterations for robust path-loss exponent and
      * transmitted power estimation. If maximum allowed number of iterations is achieved
      * without converging to a result when calling estimate(), a RobustEstimatorException
      * will be raised.
      *
      * @return maximum allowed number of iterations for path-loss exponent and transmitted
      * power estimation.
      */
     public int getRssiMaxIterations() {
         return rssiMaxIterations;
     }
 
     /**
      * Sets maximum allowed number of iterations for robust path-loss exponent and
      * transmitted power estimation. When the maximum number of iterations is exceeded,
      * an approximate result might be available for retrieval.
      *
      * @param rssiMaxIterations maximum allowed number of iterations to be set for
      *                          path-loss exponent and transmitted power estimation.
      * @throws IllegalArgumentException if provided value is less than 1.
      * @throws LockedException          if this estimator is locked.
      */
     public void setRssiMaxIterations(final int rssiMaxIterations) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (rssiMaxIterations < MIN_ITERATIONS) {
             throw new IllegalArgumentException();
         }
         this.rssiMaxIterations = rssiMaxIterations;
     }
 
     /**
      * Indicates whether result must be refined using a non-linear solver over found inliers.
      *
      * @return true to refine result, false to simply use result found by robust estimator
      * without further refining.
      */
     public boolean isResultRefined() {
         return refineResult;
     }
 
     /**
      * Specifies whether result must be refined using a non-linear solver over found inliers.
      *
      * @param refineResult true to refine result, false to simply use result found by robust
      *                     estimator without further refining.
      * @throws LockedException if estimator is locked.
      */
     public void setResultRefined(final boolean refineResult) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.refineResult = refineResult;
     }
 
     /**
      * Indicates whether covariance must be kept after refining result.
      * This setting is only taken into account if result is refined.
      *
      * @return true if covariance must be kept after refining result, false otherwise.
      */
     public boolean isCovarianceKept() {
         return keepCovariance;
     }
 
     /**
      * Specifies whether covariance must be kept after refining result.
      * This setting is only taken into account if result is refined.
      *
      * @param keepCovariance true if covariance must be kept after refining result,
      *                       false otherwise.
      * @throws LockedException if estimator is locked.
      */
     public void setCovarianceKept(final boolean keepCovariance) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.keepCovariance = keepCovariance;
     }
 
     /**
      * Gets signal readings belonging to the same radio source.
      *
      * @return signal readings belonging to the same radio source.
      */
     public List<RangingAndRssiReadingLocated<S, P>> getReadings() {
         //noinspection unchecked
         return (List<RangingAndRssiReadingLocated<S,P>>) readings;
     }
 
     /**
      * Sets signal readings belonging to the same radio source.
      *
      * @param readings signal readings belonging to the same
      *                 radio source.
      * @throws LockedException          if estimator is locked.
      * @throws IllegalArgumentException if readings are not valid.
      */
     public void setReadings(final List<? extends RangingAndRssiReadingLocated<S, P>> readings) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
 
         internalSetReadings(readings);
     }
 
     /**
      * Gets listener in charge of attending events raised by this instance.
      *
      * @return listener in charge of attending events raised by this instance.
      */
     public SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> getListener() {
         return listener;
     }
 
     /**
      * Sets listener in charge of attending events raised by this instance.
      *
      * @param listener listener in charge of attending events raised by this
      *                 instance.
      * @throws LockedException if estimator is locked.
      */
     public void setListener(final SequentialRobustRangingAndRssiRadioSourceEstimatorListener<S, P> listener)
             throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
 
         this.listener = listener;
     }
 
     /**
      * Returns quality scores corresponding to each pair of
      * positions and distances (i.e. sample).
      * The larger the score value the better the quality of the sample.
      * This implementation always returns null.
      * Subclasses using quality scores must implement proper behavior.
      *
      * @return quality scores corresponding to each sample.
      */
     public double[] getQualityScores() {
         return qualityScores;
     }
 
     /**
      * Sets quality scores corresponding to each pair of positions and
      * distances (i.e. sample).
      * The larger the score value the better the quality of the sample.
      * This implementation makes no action.
      * Subclasses using quality scores must implement proper behaviour.
      *
      * @param qualityScores quality scores corresponding to each pair of
      *                      matched points.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than minimum required samples.
      * @throws LockedException          if robust solver is locked because an
      *                                  estimation is already in progress.
      */
     public void setQualityScores(final double[] qualityScores) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         internalSetQualityScores(qualityScores);
     }
 
     /**
      * Gets initial transmitted power to start the estimation of radio source
      * transmitted power (expressed in dBm's).
      * If not defined, average value of received power readings will be used.
      *
      * @return initial transmitted power to start the estimation of radio source
      * transmitted power.
      */
     public Double getInitialTransmittedPowerdBm() {
         return initialTransmittedPowerdBm;
     }
 
     /**
      * Sets initial transmitted power to start the estimation of radio source
      * transmitted power (expressed in dBm's).
      * If not defined, average value of received power readings will be used.
      *
      * @param initialTransmittedPowerdBm initial transmitted power to start the
      *                                   estimation of radio source transmitted
      *                                   power.
      * @throws LockedException if estimator is locked.
      */
     public void setInitialTransmittedPowerdBm(final Double initialTransmittedPowerdBm) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.initialTransmittedPowerdBm = initialTransmittedPowerdBm;
     }
 
     /**
      * Gets initial transmitted power to start the estimation of radio source
      * transmitted power (expressed in mW).
      * If not defined, average value of received power readings will be used.
      *
      * @return initial transmitted power to start the estimation of radio source
      * transmitted power.
      */
     public Double getInitialTransmittedPower() {
         return initialTransmittedPowerdBm != null ? Utils.dBmToPower(initialTransmittedPowerdBm) : null;
     }
 
     /**
      * Sets initial transmitted power to start the estimation of radio source
      * transmitted power (expressed in mW).
      * If not defined, average value of received power readings will be used.
      *
      * @param initialTransmittedPower initial transmitted power to start the
      *                                estimation of radio source transmitted power.
      * @throws LockedException          if estimator is locked.
      * @throws IllegalArgumentException if provided value is negative.
      */
     public void setInitialTransmittedPower(final Double initialTransmittedPower) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         if (initialTransmittedPower != null) {
             if (initialTransmittedPower < 0.0) {
                 throw new IllegalArgumentException();
             }
             initialTransmittedPowerdBm = Utils.powerTodBm(initialTransmittedPower);
         } else {
             initialTransmittedPowerdBm = null;
         }
     }
 
     /**
      * Gets initial position to start the estimation of radio source position.
      * If not defined, centroid of provided fingerprints will be used.
      *
      * @return initial position to start the estimation of radio source position.
      */
     public P getInitialPosition() {
         return initialPosition;
     }
 
     /**
      * Sets initial position to start the estimation of radio source position.
      * If not defined, centroid of provided fingerprints will be used.
      *
      * @param initialPosition initial position to start the estimation of radio
      *                        source position.
      * @throws LockedException if estimator is locked.
      */
     public void setInitialPosition(final P initialPosition) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.initialPosition = initialPosition;
     }
 
     /**
      * Gets initial exponent typically used on free space for path loss propagation
      * in terms of distance.
      * On different environments path loss exponent might have different value:
      * - Free space: 2.0
      * - Urban Area: 2.7 to 3.5
      * - Suburban Area: 3 to 5
      * - Indoor (line-of-sight): 1.6 to 1.8
      * <p>
      * If path loss exponent estimation is enabled, estimation will start at this
      * value and will converge to the most appropriate value.
      * If path loss exponent estimation is disabled, this value will be assumed
      * to be exact and the estimated path loss exponent will be equal to this
      * value.
      *
      * @return initial path loss exponent.
      */
     public double getInitialPathLossExponent() {
         return initialPathLossExponent;
     }
 
     /**
      * Sets initial exponent typically used on free space for path loss propagation
      * in terms of distance.
      * On different environments path loss exponent might have different value:
      * - Free space: 2.0
      * - Urban Area: 2.7 to 3.5
      * - Suburban Area: 3 to 5
      * - Indoor (line-of-sight): 1.6 to 1.8
      * <p>
      * If path loss exponent estimation is enabled, estimation will start at this
      * value and will converge to the most appropriate value.
      * If path loss exponent estimation is disabled, this value will be assumed
      * to be exact and the estimated path loss exponent will be equal to this
      * value.
      *
      * @param initialPathLossExponent initial path loss exponent.
      * @throws LockedException if estimator is locked.
      */
     public void setInitialPathLossExponent(final double initialPathLossExponent) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.initialPathLossExponent = initialPathLossExponent;
     }
 
     /**
      * Indicates whether transmitted power estimation is enabled or not.
      *
      * @return true if transmitted power estimation is enabled, false otherwise.
      */
     public boolean isTransmittedPowerEstimationEnabled() {
         return transmittedPowerEstimationEnabled;
     }
 
     /**
      * Specifies whether transmitted power estimation is enabled or not.
      *
      * @param transmittedPowerEstimationEnabled true if transmitted power estimation is enabled,
      *                                          false otherwise.
      * @throws LockedException if estimator is locked.
      */
     public void setTransmittedPowerEstimationEnabled(final boolean transmittedPowerEstimationEnabled)
             throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.transmittedPowerEstimationEnabled = transmittedPowerEstimationEnabled;
     }
 
     /**
      * Indicates whether path loss estimation is enabled or not.
      *
      * @return true if path loss estimation is enabled, false otherwise.
      */
     public boolean isPathLossEstimationEnabled() {
         return pathLossEstimationEnabled;
     }
 
     /**
      * Specifies whether path loss estimation is enabled or not.
      *
      * @param pathLossEstimationEnabled true if path loss estimation is enabled,
      *                                  false otherwise.
      * @throws LockedException if estimator is locked.
      */
     public void setPathLossEstimationEnabled(final boolean pathLossEstimationEnabled) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.pathLossEstimationEnabled = pathLossEstimationEnabled;
     }
 
     /**
      * Indicates whether position covariances of readings must be taken into account to increase
      * the amount of standard deviation of each ranging measure by the amount of position standard
      * deviation assuming that both measures are statistically independent.
      *
      * @return true to take into account reading position covariances, false otherwise.
      */
     public boolean getUseReadingPositionCovariance() {
         return useReadingPositionCovariances;
     }
 
     /**
      * Specifies whether position covariances of readings must be taken into account to increase
      * the amount of standard deviation of each ranging measure by the amount of position standard
      * deviation assuming that both measures are statistically independent.
      *
      * @param useReadingPositionCovariances true to take into account reading position covariances, false
      *                                      otherwise.
      * @throws LockedException if estimator is locked.
      */
     public void setUseReadingPositionCovariances(final boolean useReadingPositionCovariances) throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
         this.useReadingPositionCovariances = useReadingPositionCovariances;
     }
 
     /**
      * Indicates whether an homogeneous ranging linear solver is used to estimate preliminary
      * positions.
      *
      * @return true if homogeneous ranging linear solver is used, false if an inhomogeneous ranging linear
      * one is used instead.
      */
     public boolean isHomogeneousRangingLinearSolverUsed() {
         return useHomogeneousRangingLinearSolver;
     }
 
     /**
      * Specifies whether an homogeneous ranging linear solver is used to estimate preliminary
      * positions.
      *
      * @param useHomogeneousRangingLinearSolver true if homogeneous ranging linear solver is used, false
      *                                          if an inhomogeneous ranging linear one is used instead.
      * @throws LockedException if estimator is locked.
      */
     public void setHomogeneousRangingLinearSolverUsed(final boolean useHomogeneousRangingLinearSolver)
             throws LockedException {
         if (isLocked()) {
             throw new LockedException();
         }
 
         this.useHomogeneousRangingLinearSolver = useHomogeneousRangingLinearSolver;
     }
 
     /**
      * Gets covariance for estimated position and power.
      * Matrix contains information in the following order:
      * Top-left sub-matrix contains covariance of position,
      * then follows transmitted power variance, and finally
      * the last element contains path-loss exponent variance.
      * This is only available when result has been refined and covariance is kept.
      *
      * @return covariance for estimated position and power.
      */
     public Matrix getCovariance() {
         return covariance;
     }
 
     /**
      * Gets estimated position covariance.
      * Size of this matrix will depend on the number of dimensions
      * of estimated position (either 2 or 3).
      * This is only available when result has been refined and covariance is kept.
      *
      * @return estimated position covariance.
      */
     public Matrix getEstimatedPositionCovariance() {
         return estimatedPositionCovariance;
     }
 
     /**
      * Gets estimated position.
      *
      * @return estimated position.
      */
     public P getEstimatedPosition() {
         return estimatedPosition;
     }
 
     /**
      * Indicates whether readings are valid or not.
      * Readings are considered valid when there are enough readings.
      *
      * @param readings readings to be validated.
      * @return true if readings are valid, false otherwise.
      */
     public boolean areValidReadings(final List<? extends RangingAndRssiReadingLocated<S, P>> readings) {
         return readings != null && readings.size() >= getMinReadings();
     }
 
     /**
      * Indicates whether this instance is ready to start the estimation.
      *
      * @return true if this instance is ready, false otherwise.
      * @throws LockedException if estimator is locked
      */
     public boolean isReady() throws LockedException {
         buildRangingEstimatorIfNeeded();
         setupRangingEstimator();
 
         if (transmittedPowerEstimationEnabled || pathLossEstimationEnabled) {
             buildRssiEstimatorIfNeeded();
             setupRssiEstimator();
         }
 
         return rangingEstimator.isReady() && ((!transmittedPowerEstimationEnabled && !pathLossEstimationEnabled)
                 || rssiEstimator.isReady());
     }
 
     /**
      * Gets estimated transmitted power variance.
      * This is only available when result has been refined and covariance is kept.
      *
      * @return estimated transmitted power variance.
      */
     public Double getEstimatedTransmittedPowerVariance() {
         return estimatedTransmittedPowerVariance;
     }
 
     /**
      * Gets estimated path loss exponent variance.
      * This is only available when result has been refined and covariance is kept.
      *
      * @return estimated path loss exponent variance.
      */
     public Double getEstimatedPathLossExponentVariance() {
         return estimatedPathLossExponentVariance;
     }
 
     /**
      * Gets estimated transmitted power expressed in milli watts (mW).
      *
      * @return estimated transmitted power expressed in milli watts.
      */
     public double getEstimatedTransmittedPower() {
         return Utils.dBmToPower(estimatedTransmittedPowerdBm);
     }
 
     /**
      * Gets estimated transmitted power expressed in dBm's.
      *
      * @return estimated transmitted power expressed in dBm's.
      */
     public double getEstimatedTransmittedPowerdBm() {
         return estimatedTransmittedPowerdBm;
     }
 
     /**
      * Gets estimated exponent typically used on free space for path loss propagation in
      * terms of distance.
      * On different environments path loss exponent might have different values:
      * - Free space: 2.0
      * - Urban Area: 2.7 to 3.5
      * - Suburban Area: 3 to 5
      * - Indoor (line-of-sight): 1.6 to 1.8
      * If path loss exponent estimation is not enabled, this value will always be equal to
      * {@link RssiRadioSourceEstimator#DEFAULT_PATH_LOSS_EXPONENT}
      *
      * @return estimated path loss exponent.
      */
     public double getEstimatedPathLossExponent() {
         return estimatedPathLossExponent;
     }
 
     /**
      * Robustly estimates position, transmitted power and path-loss exponent for a
      * radio source.
      *
      * @throws LockedException          if instance is busy during estimation.
      * @throws NotReadyException        if estimator is not ready.
      * @throws RobustEstimatorException if estimation fails for any reason
      *                                  (i.e. numerical instability, no solution available, etc).
      */
     public void estimate() throws LockedException, NotReadyException, RobustEstimatorException {
         if (isLocked()) {
             throw new LockedException();
         }
         try {
             locked = true;
 
             // when checking for readiness, inner estimators are created and setup
             if (!isReady()) {
                 throw new NotReadyException();
             }
 
 
             if (listener != null) {
                 listener.onEstimateStart(this);
             }
 
             // estimate position
             rangingEstimator.setPreliminarySubsetSize(rangingPreliminarySubsetSize);
 
             rangingEstimator.estimate();
 
             estimatedPosition = rangingEstimator.getEstimatedPosition();
             estimatedPositionCovariance = rangingEstimator.getEstimatedPositionCovariance();
             inliersData = rangingEstimator.getInliersData();
 
             // estimate transmitted power and/or path-loss if enabled
             if (transmittedPowerEstimationEnabled || pathLossEstimationEnabled) {
                 rssiEstimator.setPositionEstimationEnabled(false);
                 rssiEstimator.setInitialPosition(estimatedPosition);
                 rssiEstimator.setPreliminarySubsetSize(rssiPreliminarySubsetSize);
 
                 rssiEstimator.estimate();
 
                 if (transmittedPowerEstimationEnabled) {
                     // transmitted power estimation enabled
                     estimatedTransmittedPowerdBm = rssiEstimator.getEstimatedTransmittedPowerdBm();
                     estimatedTransmittedPowerVariance = rssiEstimator.getEstimatedTransmittedPowerVariance();
                 } else {
                     // transmitted power estimation disabled
                     if (initialTransmittedPowerdBm != null) {
                         estimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
                     }
                     estimatedTransmittedPowerVariance = null;
                 }
 
                 if (pathLossEstimationEnabled) {
                     // path-loss exponent estimation enabled
                     estimatedPathLossExponent = rssiEstimator.getEstimatedPathLossExponent();
                     estimatedPathLossExponentVariance = rssiEstimator.getEstimatedPathLossExponentVariance();
                 } else {
                     // path-loss exponent estimation disabled
                     estimatedPathLossExponent = initialPathLossExponent;
                     estimatedPathLossExponentVariance = null;
                 }
 
                 // build covariance matrix
                 final var rssiCov = rssiEstimator.getCovariance();
                 if (estimatedPositionCovariance != null && rssiCov != null) {
                     final var dims = getNumberOfDimensions();
                     var n = dims;
                     if (transmittedPowerEstimationEnabled) {
                         n++;
                     }
                     if (pathLossEstimationEnabled) {
                         n++;
                     }
 
                     final var dimsMinus1 = dims - 1;
                     final var nMinus1 = n - 1;
                     covariance = new Matrix(n, n);
                     covariance.setSubmatrix(0, 0, dimsMinus1, dimsMinus1,
                             estimatedPositionCovariance);
                     covariance.setSubmatrix(dims, dims, nMinus1, nMinus1, rssiCov);
                 } else {
                     covariance = null;
                 }
             } else {
                 covariance = estimatedPositionCovariance;
                 if (initialTransmittedPowerdBm != null) {
                     estimatedTransmittedPowerdBm = initialTransmittedPowerdBm;
                 }
                 estimatedTransmittedPowerVariance = null;
 
                 estimatedPathLossExponent = initialPathLossExponent;
                 estimatedPathLossExponentVariance = null;
             }
 
             if (listener != null) {
                 listener.onEstimateEnd(this);
             }
         } catch (final AlgebraException e) {
             throw new RobustEstimatorException(e);
         } finally {
             locked = false;
         }
     }
 
     /**
      * Gets data related to inliers found after estimation.
      *
      * @return data related to inliers found after estimation.
      */
     public InliersData getInliersData() {
         return inliersData;
     }
 
     /**
      * Gets minimum required number of readings to estimate
      * power, position and path-loss exponent.
      * This value depends on the number of parameters to
      * be estimated, but for position only, this is 3
      * readings for 2D, and 4 readings for 3D.
      *
      * @return minimum required number of readings.
      */
     public abstract int getMinReadings();
 
     /**
      * Gets number of dimensions of position points.
      *
      * @return number of dimensions of position points.
      */
     public abstract int getNumberOfDimensions();
 
     /**
      * Gets estimated located radio source.
      *
      * @param <S2> type of located radio source.
      * @return estimated located radio source.
      */
     public abstract <S2 extends RadioSourceLocated<P>> S2 getEstimatedRadioSource();
 
     /**
      * Builds ranging estimator.
      */
     protected abstract void buildRangingEstimatorIfNeeded();
 
     /**
      * Build RSSI estimator.
      *
      * @throws LockedException if estimator is locked.
      */
     protected abstract void buildRssiEstimatorIfNeeded() throws LockedException;
 
     /**
      * Setups ranging estimator.
      *
      * @throws LockedException if estimator is locked.
      */
     protected void setupRangingEstimator() throws LockedException {
         if (readings != null) {
             //build ranging readings
             final var rangingReadings = new ArrayList<RangingReadingLocated<S, P>>();
             for (final var reading : readings) {
                 rangingReadings.add(createRangingReading(reading));
             }
             rangingEstimator.setReadings(rangingReadings);
         }
 
         if (qualityScores != null) {
             rangingEstimator.setQualityScores(qualityScores);
         }
 
         rangingEstimator.setProgressDelta(2.0f * progressDelta);
         rangingEstimator.setConfidence(rangingConfidence);
         rangingEstimator.setMaxIterations(rangingMaxIterations);
         rangingEstimator.setResultRefined(refineResult);
         rangingEstimator.setCovarianceKept(keepCovariance);
         rangingEstimator.setUseReadingPositionCovariances(useReadingPositionCovariances);
         rangingEstimator.setHomogeneousLinearSolverUsed(useHomogeneousRangingLinearSolver);
 
         rangingEstimator.setInitialPosition(initialPosition);
 
         rangingEstimator.setListener(new RobustRangingRadioSourceEstimatorListener<>() {
             @Override
             public void onEstimateStart(final RobustRangingRadioSourceEstimator<S, P> estimator) {
                 // not used
             }
 
             @Override
             public void onEstimateEnd(final RobustRangingRadioSourceEstimator<S, P> estimator) {
                 // not used
             }
 
             @Override
             public void onEstimateNextIteration(
                     final RobustRangingRadioSourceEstimator<S, P> estimator, final int iteration) {
                 // not used
             }
 
             @Override
             public void onEstimateProgressChange(
                     final RobustRangingRadioSourceEstimator<S, P> estimator, final float progress) {
                 if (listener != null) {
                     listener.onEstimateProgressChange(
                             SequentialRobustRangingAndRssiRadioSourceEstimator.this, 0.5f * progress);
                 }
             }
         });
     }
 
     /**
      * Setups RSSI estimator.
      *
      * @throws LockedException if estimator is locked.
      */
     protected void setupRssiEstimator() throws LockedException {
         if (readings != null) {
             // build RSSI readings
             final var rssiReadings = new ArrayList<RssiReadingLocated<S, P>>();
             for (final var reading : readings) {
                 rssiReadings.add(createRssiReading(reading));
             }
             rssiEstimator.setReadings(rssiReadings);
         }
 
         if (qualityScores != null) {
             rssiEstimator.setQualityScores(qualityScores);
         }
 
         rssiEstimator.setProgressDelta(2.0f * progressDelta);
         rssiEstimator.setConfidence(rssiConfidence);
         rssiEstimator.setMaxIterations(rssiMaxIterations);
         rssiEstimator.setResultRefined(refineResult);
         rssiEstimator.setCovarianceKept(keepCovariance);
 
         // initial position is not set because position estimated from ranging measures
         // will be later used
         rssiEstimator.setInitialTransmittedPowerdBm(initialTransmittedPowerdBm);
         rssiEstimator.setInitialPathLossExponent(initialPathLossExponent);
 
         rssiEstimator.setTransmittedPowerEstimationEnabled(
                 transmittedPowerEstimationEnabled);
         rssiEstimator.setPathLossEstimationEnabled(pathLossEstimationEnabled);
 
         rssiEstimator.setListener(new RobustRssiRadioSourceEstimatorListener<>() {
             @Override
             public void onEstimateStart(final RobustRssiRadioSourceEstimator<S, P> estimator) {
                 // not used
             }
 
             @Override
             public void onEstimateEnd(final RobustRssiRadioSourceEstimator<S, P> estimator) {
                 // not used
             }
 
             @Override
             public void onEstimateNextIteration(
                     final RobustRssiRadioSourceEstimator<S, P> estimator, final int iteration) {
                 // not used
             }
 
             @Override
             public void onEstimateProgressChange(
                     final RobustRssiRadioSourceEstimator<S, P> estimator, final float progress) {
                 if (listener != null) {
                     listener.onEstimateProgressChange(
                             SequentialRobustRangingAndRssiRadioSourceEstimator.this,
                             0.5f + 0.5f * progress);
                 }
             }
         });
     }
 
     /**
      * Internally sets signal readings belonging to the same radio source.
      *
      * @param readings signal readings belonging to the same radio source.
      * @throws IllegalArgumentException if readings are null, not enough readings
      *                                  are available, or readings do not belong to the same access point.
      */
     private void internalSetReadings(final List<? extends RangingAndRssiReadingLocated<S, P>> readings) {
         if (!areValidReadings(readings)) {
             throw new IllegalArgumentException();
         }
 
         this.readings = readings;
     }
 
     /**
      * Sets quality scores corresponding to each provided sample.
      * This method is used internally and does not check whether instance is
      * locked or not.
      *
      * @param qualityScores quality scores to be set.
      * @throws IllegalArgumentException if provided quality scores length
      *                                  is smaller than required minimum.
      */
     private void internalSetQualityScores(final double[] qualityScores) {
         if (qualityScores == null || qualityScores.length < getMinReadings()) {
             throw new IllegalArgumentException();
         }
 
         this.qualityScores = qualityScores;
     }
 
     /**
      * Creates a ranging reading from a ranging and RSSI reading.
      *
      * @param reading input reading to convert from.
      * @return a ranging reading containing only the ranging data of input reading.
      */
     private RangingReadingLocated<S, P> createRangingReading(final RangingAndRssiReadingLocated<S, P> reading) {
         return new RangingReadingLocated<>(reading.getSource(), reading.getDistance(), reading.getPosition(),
                 reading.getDistanceStandardDeviation(), reading.getPositionCovariance());
     }
 
     /**
      * Creates an RSSI reading from a ranging and RSSI reading.
      *
      * @param reading input reading to convert from.
      * @return an RSSI reading containing only the RSSI data of input reading.
      */
     private RssiReadingLocated<S, P> createRssiReading(final RangingAndRssiReadingLocated<S, P> reading) {
         return new RssiReadingLocated<>(reading.getSource(), reading.getRssi(), reading.getPosition(),
                 reading.getRssiStandardDeviation(), reading.getPositionCovariance());
     }
 }