Package com.irurueta.navigation

Class Accuracy3D

java.lang.Object
com.irurueta.navigation.Accuracy<com.irurueta.geometry.Accuracy3D>
com.irurueta.navigation.Accuracy3D
public class Accuracy3D extends Accuracy<com.irurueta.geometry.Accuracy3D>
Contains methods to convert covariance matrices into ellipsoids representing accuracy with requested confidence.

  • Constructor Details

    • Accuracy3D

      public Accuracy3D()
      Constructor.

    • Accuracy3D

      public Accuracy3D(com.irurueta.algebra.Matrix covarianceMatrix) throws com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException
      Constructor.
      Parameters:
      covarianceMatrix - covariance matrix to be set. Must be 3x3 and positive definite.
      Throws:
      IllegalArgumentException - if provided matrix is not square (it must also be positive definite to be properly converted to an ellipsoid).
      com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException - if provided matrix is not symmetric and positive definite.

    • Accuracy3D

      public Accuracy3D(double confidence)
      Constructor.
      Parameters:
      confidence - confidence of provided accuracy of an estimated position.
      Throws:
      IllegalArgumentException - if provided value is not within 0 and 1.

    • Accuracy3D

      public Accuracy3D(com.irurueta.algebra.Matrix covarianceMatrix, double confidence) throws com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException
      Constructor.
      Parameters:
      covarianceMatrix - covariance matrix to be set. Must be 3x3 and positive definite.
      confidence - confidence of provided accuracy of an estimated position.
      Throws:
      IllegalArgumentException - if provided matrix is not square (it must also be positive definite to be properly converted to an ellipsoid), or if provided confidence value is not within 0 and 1.
      com.irurueta.algebra.NonSymmetricPositiveDefiniteMatrixException - if provided matrix it not symmetric and positive definite.

    • Accuracy3D

      Accuracy3D(com.irurueta.geometry.Accuracy3D internalAccuracy)
      Constructor.
      Parameters:
      internalAccuracy - internal accuracy to be set.

  • Method Details

    • toEllipsoid

      public com.irurueta.geometry.Ellipsoid toEllipsoid() throws com.irurueta.geometry.InvalidRotationMatrixException
      Converts provided covariance matrix into a 3D ellipsoid taking into account current confidence and standard deviation factor.
      Returns:
      ellipsoid representing accuracy of covariance matrix with current confidence and standard deviation factor.
      Throws:
      NullPointerException - if covariance matrix has not been provided yet.
      com.irurueta.geometry.InvalidRotationMatrixException - if rotation cannot be properly determined.

    • flattenTo2D

      public Accuracy2D flattenTo2D() throws com.irurueta.geometry.GeometryException
      Flattens accuracy representation to 2D by taking into account only x and y coordinates and ignoring variance related to z coordinates.
      Returns:
      flattened accuracy representation in 2D.
      Throws:
      NullPointerException - if covariance matrix is not defined.
      com.irurueta.geometry.GeometryException - if accuracy cannot be flattened.

    • intersectWithPlane

      public com.irurueta.geometry.Ellipse intersectWithPlane() throws com.irurueta.geometry.GeometryException
      Intersects ellipsoid representing this accuracy with horizontal xy plane.
      Returns:
      intersected ellipse.
      Throws:
      NullPointerException - if covariance matrix is not defined.
      com.irurueta.geometry.GeometryException - if intersection cannot be computed.