Package com.irurueta.navigation.lateration

Class NonLinearLeastSquaresLateration2DSolver

java.lang.Object

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

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

com.irurueta.navigation.lateration.NonLinearLeastSquaresLateration2DSolver

public class NonLinearLeastSquaresLateration2DSolver
extends NonLinearLeastSquaresLaterationSolver<com.irurueta.geometry.Point2D>

Solves a Trilateration problem with an instance of the least squares optimizer.

Field Summary

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

DEFAULT_DISTANCE_STANDARD_DEVIATION

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

distances, EPSILON, estimatedPositionCoordinates, listener, locked, positions

Constructor Summary

Constructors

Constructor	Description
NonLinearLeastSquaresLateration2DSolver()	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, com.irurueta.geometry.Point2D initialPosition)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, com.irurueta.geometry.Point2D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, com.irurueta.geometry.Point2D initialPosition)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, com.irurueta.geometry.Point2D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D initialPosition)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, com.irurueta.geometry.Point2D initialPosition)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, com.irurueta.geometry.Point2D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, com.irurueta.geometry.Point2D initialPosition)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, com.irurueta.geometry.Point2D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
NonLinearLeastSquaresLateration2DSolver(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.
private void	internalSetCirclesAndStandardDeviations(com.irurueta.geometry.Circle[] circles, double[] radiusStandardDeviations)	Internally sets circles defining positions and Euclidean distances along with the standard deviations of provided circles radii.
void	setCircles(com.irurueta.geometry.Circle[] circles)	Sets circles defining positions and euclidean distances.
void	setCirclesAndStandardDeviations(com.irurueta.geometry.Circle[] circles, double[] radiusStandardDeviations)	Sets circles defining positions and Euclidean distances along with the standard deviations of provided circles radii.

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

getChiSq, getCovariance, getDistanceStandardDeviations, getInitialPosition, getType, internalSetPositionsAndDistances, internalSetPositionsDistancesAndStandardDeviations, setInitialPosition, setPositionsAndDistances, setPositionsDistancesAndStandardDeviations, solve

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

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

Methods inherited from class java.lang.Object

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

Constructor Details

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver()

Constructor.

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(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 (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D initialPosition)

Constructor.

Parameters:

initialPosition - initial position to start lateration solving.

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 com.irurueta.geometry.Point2D initialPosition)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

initialPosition - initial position to start lateration solving.

Throws:

IllegalArgumentException - if either positions or distances are null, don't have the same length or their length is smaller than required (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

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

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(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 (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

initialPosition - initial position to start lateration solving.

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

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 com.irurueta.geometry.Point2D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

initialPosition - initial position to start lateration solving.

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 (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(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 2.

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 com.irurueta.geometry.Point2D initialPosition)

Constructor.

Parameters:

circles - circles defining positions and distances.

initialPosition - initial position to start lateration solving.

Throws:

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

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(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 2.

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 com.irurueta.geometry.Point2D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

circles - circles defining positions and distances.

initialPosition - initial position to start lateration solving.

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 2.

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

distanceStandardDeviations - standard deviations of provided measured distances.

Throws:

IllegalArgumentException - if either positions, distances or standard deviations are null, don't have the same length of their length is smaller than required (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point2D initialPosition)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

distanceStandardDeviations - standard deviations of provided measured distances.

initialPosition - initial position to start lateration solving.

Throws:

IllegalArgumentException - if either positions, distances or standard deviations are null, don't have the same length of their length is smaller than required (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 LaterationSolverListener<com.irurueta.geometry.Point2D> 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 raised by this instance.

Throws:

IllegalArgumentException - if either positions, distances or standard deviations are null, don't have the same length of their length is smaller than required (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point2D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point2D> 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.

initialPosition - initial position to start lateration solving.

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

Throws:

IllegalArgumentException - if either positions, distances or standard deviations are null, don't have the same length of their length is smaller than required (2 points).

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations)

Constructor.

Parameters:

circles - circles defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

Throws:

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

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point2D initialPosition)

Constructor.

Parameters:

circles - circles defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

initialPosition - initial position to start lateration solving.

Throws:

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

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

circles - circles defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured 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 2.

NonLinearLeastSquaresLateration2DSolver

public NonLinearLeastSquaresLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point2D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

circles - circles defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

initialPosition - initial position to start lateration solving.

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 2.

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.

setCirclesAndStandardDeviations

public void setCirclesAndStandardDeviations(com.irurueta.geometry.Circle[] circles,
 double[] radiusStandardDeviations)
                                     throws LockedException

Sets circles defining positions and Euclidean distances along with the standard deviations of provided circles radii.

Parameters:

circles - circles defining positions and distances.

radiusStandardDeviations - standard deviations of circles radii.

Throws:

IllegalArgumentException - if circles is null, length of arrays is less than 2 or don't have the same length.

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 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 2.

internalSetCirclesAndStandardDeviations

private void internalSetCirclesAndStandardDeviations(com.irurueta.geometry.Circle[] circles,
 double[] radiusStandardDeviations)

Internally sets circles defining positions and Euclidean distances along with the standard deviations of provided circles radii.

Parameters:

circles - circles defining positions and distances.

radiusStandardDeviations - standard deviations of circles radii.

Throws:

IllegalArgumentException - if circles is null, length of arrays is less than 2 or don't have the same length.