Package com.irurueta.navigation.lateration

Class HomogeneousLinearLeastSquaresLateration3DSolver

java.lang.Object

com.irurueta.navigation.lateration.LaterationSolver<P>

com.irurueta.navigation.lateration.HomogeneousLinearLeastSquaresLaterationSolver<com.irurueta.geometry.Point3D>

com.irurueta.navigation.lateration.HomogeneousLinearLeastSquaresLateration3DSolver

public class HomogeneousLinearLeastSquaresLateration3DSolver
extends HomogeneousLinearLeastSquaresLaterationSolver<com.irurueta.geometry.Point3D>

Linearly solves the lateration problem using an homogeneous LMSE solution.

Field Summary

Fields inherited from class com.irurueta.navigation.lateration.LaterationSolver

distances, EPSILON, estimatedPositionCoordinates, listener, locked, positions

Constructor Summary

Constructors

Constructor	Description
HomogeneousLinearLeastSquaresLateration3DSolver()	Constructor.
HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances)	Constructor.
HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres)	Constructor.
HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
HomogeneousLinearLeastSquaresLateration3DSolver(LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.geometry.Point3D	getEstimatedPosition()	Gets estimated position.
int	getMinRequiredPositionsAndDistances()	Minimum required number of positions and distances.
int	getNumberOfDimensions()	Gets number of dimensions of provided points.
com.irurueta.geometry.Sphere[]	getSpheres()	Gets spheres defined by provided positions and distances.
private void	internalSetSpheres(com.irurueta.geometry.Sphere[] spheres)	Internally sets spheres defining positions and Euclidean distances.
void	setSpheres(com.irurueta.geometry.Sphere[] spheres)	Sets spheres defining positions and Euclidean distances.

Methods inherited from class com.irurueta.navigation.lateration.HomogeneousLinearLeastSquaresLaterationSolver

getType, solve

Methods inherited from class com.irurueta.navigation.lateration.LaterationSolver

getDistances, getEstimatedPosition, getEstimatedPositionCoordinates, getListener, getPositions, internalSetPositionsAndDistances, isLocked, isReady, setListener, setPositionsAndDistances

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

HomogeneousLinearLeastSquaresLateration3DSolver

public HomogeneousLinearLeastSquaresLateration3DSolver()

Constructor.

HomogeneousLinearLeastSquaresLateration3DSolver

public HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

Throws:

IllegalArgumentException - if either positions or distances are null, don't have the same length or their length is smaller than required (4 points).

HomogeneousLinearLeastSquaresLateration3DSolver

public HomogeneousLinearLeastSquaresLateration3DSolver(LaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener to be notified of events raised by this instance.

HomogeneousLinearLeastSquaresLateration3DSolver

public HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 LaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

listener - listener to be notified of events raised by this instance.

Throws:

IllegalArgumentException - if either positions or distances are null, don't have the same length or their length is smaller than required (4 points).

HomogeneousLinearLeastSquaresLateration3DSolver

public HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres)

Constructor.

Parameters:

spheres - spheres defining positions and distances.

Throws:

IllegalArgumentException - if spheres is null or if length of spheres array is less than 4.

HomogeneousLinearLeastSquaresLateration3DSolver

public HomogeneousLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 LaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

spheres - spheres defining positions and distances.

listener - listener to be notified of events raised by this instance.

Throws:

IllegalArgumentException - if spheres is null or if length of spheres array is less than 4.

Method Details

getSpheres

public com.irurueta.geometry.Sphere[] getSpheres()

Gets spheres defined by provided positions and distances.

Returns:

spheres defined by provided positions and distances.

setSpheres

public void setSpheres(com.irurueta.geometry.Sphere[] spheres)
                throws LockedException

Sets spheres defining positions and Euclidean distances.

Parameters:

spheres - spheres defining positions and distances.

Throws:

IllegalArgumentException - if spheres is null or length of array of spheres is less than 2.

LockedException - if instance is busy solving the lateration problem.

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of provided points.

Specified by:

getNumberOfDimensions in class LaterationSolver<com.irurueta.geometry.Point3D>

Returns:

always returns 2 dimensions.

getMinRequiredPositionsAndDistances

public int getMinRequiredPositionsAndDistances()

Minimum required number of positions and distances. At least 4 positions and distances will be required to linearly solve a 3D problem.

Specified by:

getMinRequiredPositionsAndDistances in class LaterationSolver<com.irurueta.geometry.Point3D>

Returns:

minimum required number of positions and distances.

getEstimatedPosition

public com.irurueta.geometry.Point3D getEstimatedPosition()

Gets estimated position.

Specified by:

getEstimatedPosition in class LaterationSolver<com.irurueta.geometry.Point3D>

Returns:

estimated position.

internalSetSpheres

private void internalSetSpheres(com.irurueta.geometry.Sphere[] spheres)

Internally sets spheres defining positions and Euclidean distances.

Parameters:

spheres - spheres defining positions and distances.

Throws:

IllegalArgumentException - if spheres is null or length of array of spheres is less than 4.