Package com.irurueta.navigation.lateration

Class HomogeneousLinearLeastSquaresLaterationSolver<P extends com.irurueta.geometry.Point<?>>

java.lang.Object

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

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

Direct Known Subclasses:

HomogeneousLinearLeastSquaresLateration2DSolver, HomogeneousLinearLeastSquaresLateration3DSolver

public abstract class HomogeneousLinearLeastSquaresLaterationSolver<P extends com.irurueta.geometry.Point<?>>
extends LaterationSolver<P>

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

Modifier	Constructor	Description
protected	HomogeneousLinearLeastSquaresLaterationSolver()	Constructor.
protected	HomogeneousLinearLeastSquaresLaterationSolver(LaterationSolverListener<P> listener)	Constructor.
protected	HomogeneousLinearLeastSquaresLaterationSolver(P[] positions, double[] distances)	Constructor.
protected	HomogeneousLinearLeastSquaresLaterationSolver(P[] positions, double[] distances, LaterationSolverListener<P> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
LaterationSolverType	getType()	Gets lateration solver type.
void	solve()	Solves the lateration problem.

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

getDistances, getEstimatedPosition, getEstimatedPosition, getEstimatedPositionCoordinates, getListener, getMinRequiredPositionsAndDistances, getNumberOfDimensions, 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

HomogeneousLinearLeastSquaresLaterationSolver

protected HomogeneousLinearLeastSquaresLaterationSolver()

Constructor.

HomogeneousLinearLeastSquaresLaterationSolver

protected HomogeneousLinearLeastSquaresLaterationSolver(P[] 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 points.

HomogeneousLinearLeastSquaresLaterationSolver

protected HomogeneousLinearLeastSquaresLaterationSolver(LaterationSolverListener<P> listener)

Constructor.

Parameters:

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

HomogeneousLinearLeastSquaresLaterationSolver

protected HomogeneousLinearLeastSquaresLaterationSolver(P[] positions,
 double[] distances,
 LaterationSolverListener<P> 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 position or distances are null, don't have the same length or their length is smaller than required points.

Method Details

solve

public void solve()
           throws LaterationException,
NotReadyException,
LockedException

Solves the lateration problem.

Specified by:

solve in class LaterationSolver<P extends com.irurueta.geometry.Point<?>>

Throws:

LaterationException - if lateration fails.

NotReadyException - if solver is not ready.

LockedException - if instance is busy solving the lateration problem.

getType

public LaterationSolverType getType()

Gets lateration solver type.

Specified by:

getType in class LaterationSolver<P extends com.irurueta.geometry.Point<?>>

Returns:

lateration solver type.