Package com.irurueta.navigation.lateration

Class InhomogeneousLinearLeastSquaresLateration2DSolver

java.lang.Object

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

com.irurueta.navigation.lateration.InhomogeneousLinearLeastSquaresLaterationSolver<com.irurueta.geometry.Point2D>

com.irurueta.navigation.lateration.InhomogeneousLinearLeastSquaresLateration2DSolver

public class InhomogeneousLinearLeastSquaresLateration2DSolver
extends InhomogeneousLinearLeastSquaresLaterationSolver<com.irurueta.geometry.Point2D>

Linearly solves the lateration problem using an inhomogeneous solution.

Field Summary

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

distances, EPSILON, estimatedPositionCoordinates, listener, locked, positions

Constructor Summary

Constructors

Constructor	Description
InhomogeneousLinearLeastSquaresLateration2DSolver()	Constructor.
InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles)	Constructor.
InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances)	Constructor.
InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
InhomogeneousLinearLeastSquaresLateration2DSolver(LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.geometry.Circle[]	getCircles()	Gets circles defined by provided positions and distances.
com.irurueta.geometry.Point2D	getEstimatedPosition()	Gets estimated position.
int	getMinRequiredPositionsAndDistances()	Minimum required number of positions and distances.
int	getNumberOfDimensions()	Gets number of dimensions of provided points.
private void	internalSetCircles(com.irurueta.geometry.Circle[] circles)	Internally sets circles defining positions and Euclidean distances.
void	setCircles(com.irurueta.geometry.Circle[] circles)	Sets circles defining positions and euclidean distances.

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

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

InhomogeneousLinearLeastSquaresLateration2DSolver

public InhomogeneousLinearLeastSquaresLateration2DSolver()

Constructor.

InhomogeneousLinearLeastSquaresLateration2DSolver

public InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] 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 (3 points).

InhomogeneousLinearLeastSquaresLateration2DSolver

public InhomogeneousLinearLeastSquaresLateration2DSolver(LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

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

InhomogeneousLinearLeastSquaresLateration2DSolver

public InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 LaterationSolverListener<com.irurueta.geometry.Point2D> 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 (3 points).

InhomogeneousLinearLeastSquaresLateration2DSolver

public InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles)

Constructor.

Parameters:

circles - circles defining positions and distances.

Throws:

IllegalArgumentException - if circles is null or if length of circles array is less than 3.

InhomogeneousLinearLeastSquaresLateration2DSolver

public InhomogeneousLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

circles - circles defining positions and distances.

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

Throws:

IllegalArgumentException - if circles is null or if length of circles array is less than 3.

Method Details

getCircles

public com.irurueta.geometry.Circle[] getCircles()

Gets circles defined by provided positions and distances.

Returns:

circles defined by provided positions and distances.

setCircles

public void setCircles(com.irurueta.geometry.Circle[] circles)
                throws LockedException

Sets circles defining positions and euclidean distances.

Parameters:

circles - circles defining positions and distances.

Throws:

IllegalArgumentException - if circles is null or length of array of circles 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.Point2D>

Returns:

always returns 2 dimensions.

getMinRequiredPositionsAndDistances

public int getMinRequiredPositionsAndDistances()

Minimum required number of positions and distances. At least 3 positions and distances will be required to linearly solve a 2D problem.

Specified by:

getMinRequiredPositionsAndDistances in class LaterationSolver<com.irurueta.geometry.Point2D>

Returns:

minimum required number of positions and distances.

getEstimatedPosition

public com.irurueta.geometry.Point2D getEstimatedPosition()

Gets estimated position.

Specified by:

getEstimatedPosition in class LaterationSolver<com.irurueta.geometry.Point2D>

Returns:

estimated position.

internalSetCircles

private void internalSetCircles(com.irurueta.geometry.Circle[] circles)

Internally sets circles defining positions and Euclidean distances.

Parameters:

circles - circles defining positions and distances.

Throws:

IllegalArgumentException - if circles is null or length of array of circles is less than 3.