Package com.irurueta.navigation.lateration

Class NonLinearLeastSquaresLateration3DSolver

java.lang.Object

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

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

com.irurueta.navigation.lateration.NonLinearLeastSquaresLateration3DSolver

public class NonLinearLeastSquaresLateration3DSolver
extends NonLinearLeastSquaresLaterationSolver<com.irurueta.geometry.Point3D>

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
NonLinearLeastSquaresLateration3DSolver()	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations, com.irurueta.geometry.Point3D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, com.irurueta.geometry.Point3D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations, com.irurueta.geometry.Point3D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, com.irurueta.geometry.Point3D initialPosition)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, com.irurueta.geometry.Point3D initialPosition, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, LaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
NonLinearLeastSquaresLateration3DSolver(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.
void	internalSetSpheres(com.irurueta.geometry.Sphere[] spheres)	Internally sets spheres defining positions and Euclidean distances.
private void	internalSetSpheresAndStandardDeviations(com.irurueta.geometry.Sphere[] spheres, double[] radiusStandardDeviations)	Internally sets spheres defining positions and Euclidean distances along with the standard deviations of provided spheres radii.
void	setSpheres(com.irurueta.geometry.Sphere[] spheres)	Sets spheres defining positions and Euclidean distances.
void	setSpheresAndStandardDeviations(com.irurueta.geometry.Sphere[] spheres, double[] radiusStandardDeviations)	Sets spheres defining positions and Euclidean distances along with the standard deviations of provided spheres 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

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver()

Constructor.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(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 (3 for 2D points or 4 for 3D points) or fitter is null.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

initialPosition - initial position to start lateration solving.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 com.irurueta.geometry.Point3D 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 (3 for 2D points or 4 for 3D points) or fitter is null.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(LaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(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 (3 for 2D points or 4 for 3D points) or fitter is null.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

initialPosition - initial position to start lateration solving.

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

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 com.irurueta.geometry.Point3D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point3D> 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 (3 for 2D points or 4 for 3D points) or fitter is null.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(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 2.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

spheres - spheres defining positions and distances.

initialPosition - initial position to start lateration solving.

Throws:

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

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(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 2.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 com.irurueta.geometry.Point3D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(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.

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).

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point3D 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).

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 LaterationSolverListener<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 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).

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Point3D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point3D initialPosition,
 LaterationSolverListener<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.

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).

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(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 or if length of spheres array is less than 2.

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point3D initialPosition)

Constructor.

Parameters:

spheres - spheres defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

initialPosition - initial position to start lateration solving.

Throws:

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

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 double[] distanceStandardDeviations,
 LaterationSolverListener<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 raised by this instance.

Throws:

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

NonLinearLeastSquaresLateration3DSolver

public NonLinearLeastSquaresLateration3DSolver(com.irurueta.geometry.Sphere[] spheres,
 double[] distanceStandardDeviations,
 com.irurueta.geometry.Point3D initialPosition,
 LaterationSolverListener<com.irurueta.geometry.Point3D> listener)

Constructor.

Parameters:

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

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.

setSpheresAndStandardDeviations

public void setSpheresAndStandardDeviations(com.irurueta.geometry.Sphere[] spheres,
 double[] radiusStandardDeviations)
                                     throws LockedException

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

Parameters:

spheres - spheres defining positions and distances.

radiusStandardDeviations - standard deviations of circles radii.

Throws:

IllegalArgumentException - if spheres 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.Point3D>

Returns:

always returns 3 dimensions.

getMinRequiredPositionsAndDistances

public int getMinRequiredPositionsAndDistances()

Minimum required number of positions and distances. At least 4 positions and distances will be required to 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

public 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 2.

internalSetSpheresAndStandardDeviations

private void internalSetSpheresAndStandardDeviations(com.irurueta.geometry.Sphere[] spheres,
 double[] radiusStandardDeviations)

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

Parameters:

spheres - spheres defining positions and distances.

radiusStandardDeviations - standard deviations of circles radii.

Throws:

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