Package com.irurueta.navigation.lateration

Class MSACRobustLateration3DSolver

java.lang.Object

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

com.irurueta.navigation.lateration.RobustLateration3DSolver

com.irurueta.navigation.lateration.MSACRobustLateration3DSolver

public class MSACRobustLateration3DSolver
extends RobustLateration3DSolver

Robustly solves the lateration problem by finding the best pairs of 3D positions and distances among the provided ones using MSAC algorithm to discard outliers.

Field Summary

Fields

Modifier and Type	Field	Description
static final double	DEFAULT_THRESHOLD	Constant defining default threshold to determine whether samples are inliers or not.
static final double	MIN_THRESHOLD	Minimum value that can be set as threshold.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

Fields inherited from class com.irurueta.navigation.lateration.RobustLateration3DSolver

homogeneousLinearSolver, inhomogeneousLinearSolver, innerDistances, innerDistanceStandardDeviations, innerPositions, nonLinearSolver

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

confidence, covariance, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_PRELIMINARY_SOLUTIONS, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, DEFAULT_USE_HOMOGENEOUS_LINEAR_SOLVER, distances, distanceStandardDeviations, EPSILON, estimatedPosition, initialPosition, inliersData, keepCovariance, listener, locked, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, positions, preliminarySubsetSize, progressDelta, refinePreliminarySolutions, refineResult, useHomogeneousLinearSolver, useLinearSolver

Constructor Summary

Constructors

Constructor	Description
MSACRobustLateration3DSolver()	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances)	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations)	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres)	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations)	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
MSACRobustLateration3DSolver(RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double	getThreshold()	Returns threshold to determine whether samples are inliers or not.
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not.
com.irurueta.geometry.Point3D	solve()	Solves the lateration problem.

Methods inherited from class com.irurueta.navigation.lateration.RobustLateration3DSolver

attemptRefine, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getMinRequiredPositionsAndDistances, getNumberOfDimensions, getSpheres, setPreliminarySubsetSize, setSpheres, setSpheresAndStandardDeviations, solvePreliminarySolutions

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

getConfidence, getCovariance, getDistances, getDistanceStandardDeviations, getEstimatedPosition, getInitialPosition, getInliersData, getListener, getMaxIterations, getPositions, getPreliminarySubsetSize, getProgressDelta, getQualityScores, internalSetPositionsAndDistances, internalSetPositionsDistancesAndStandardDeviations, isCovarianceKept, isHomogeneousLinearSolverUsed, isLinearSolverUsed, isLocked, isPreliminarySolutionRefined, isReady, isResultRefined, setConfidence, setCovarianceKept, setHomogeneousLinearSolverUsed, setInitialPosition, setLinearSolverUsed, setListener, setMaxIterations, setPositionsAndDistances, setPositionsDistancesAndStandardDeviations, setPreliminarySolutionRefined, setProgressDelta, setQualityScores, setResultRefined

Methods inherited from class java.lang.Object

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

Field Details

DEFAULT_THRESHOLD

public static final double DEFAULT_THRESHOLD

Constant defining default threshold to determine whether samples are inliers or not.

See Also:

• Constant Field Values

MIN_THRESHOLD

public static final double MIN_THRESHOLD

Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether samples are inliers or not when testing possible estimation solutions.

Constructor Details

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver()

Constructor.

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node to be estimated.

Throws:

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

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 double[] distanceStandardDeviations)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node to be estimated.

distanceStandardDeviations - standard deviations of provided measured distances.

Throws:

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

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

distanceStandardDeviations - standard deviations of provided measured distances.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

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

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 RobustLaterationSolverListener<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 such as when estimation starts, ends or its progress significantly changes.

Throws:

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

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(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 required (4 points).

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 double[] distanceStandardDeviations)

Constructor.

Parameters:

spheres - spheres defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

Throws:

IllegalArgumentException - if spheres is null, length of spheres array is less than required (4 points) or don't have the same length.

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

spheres - spheres defining positions and distances.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if spheres is null or if length of spheres array is less than required (4 points).

MSACRobustLateration3DSolver

public MSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

spheres - spheres defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if spheres is null, length of spheres array is less than required (4 points) or don't have the same length.

Method Details

getThreshold

public double getThreshold()

Returns threshold to determine whether samples are inliers or not.

Returns:

threshold to determine whether samples are inliers or not.

setThreshold

public void setThreshold(double threshold)
                  throws LockedException

Sets threshold to determine whether samples are inliers or not.

Parameters:

threshold - threshold to be set.

Throws:

IllegalArgumentException - if provided value is equal or less than zero.

LockedException - if robust estimator is locked because an estimation is already in progress.

solve

public com.irurueta.geometry.Point3D solve()
                                    throws LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Solves the lateration problem.

Specified by:

solve in class RobustLaterationSolver<com.irurueta.geometry.Point3D>

Returns:

estimated position.

Throws:

LockedException - if instance is busy solving the lateration problem.

NotReadyException - is solver is not ready.

com.irurueta.numerical.robust.RobustEstimatorException - if estimation fails for any reason (i.e. numerical instability, no solution available, etc).

getMethod

public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()

Returns method being used for robust estimation.

Specified by:

getMethod in class RobustLaterationSolver<com.irurueta.geometry.Point3D>

Returns:

method being used for robust estimation.