Package com.irurueta.navigation.lateration

Class PROSACRobustLateration2DSolver

java.lang.Object

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

com.irurueta.navigation.lateration.RobustLateration2DSolver

com.irurueta.navigation.lateration.PROSACRobustLateration2DSolver

public class PROSACRobustLateration2DSolver
extends RobustLateration2DSolver

Robustly solves the lateration problem by finding the best pairs of 2D positions and distances among the provided ones using PROSAC algorithm to discard outliers.

Field Summary

Fields

Modifier and Type	Field	Description
private boolean	computeAndKeepInliers	Indicates whether inliers must be computed and kept.
private boolean	computeAndKeepResiduals	Indicates whether residuals must be computed and kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_INLIERS	Indicates that by default inliers will only be computed but not kept.
static final boolean	DEFAULT_COMPUTE_AND_KEEP_RESIDUALS	Indicates that by default residuals will only be computed but not kept.
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[]	qualityScores	Quality scores corresponding to each provided sample.
private double	threshold	Threshold to determine whether samples are inliers or not when testing possible solutions.

Fields inherited from class com.irurueta.navigation.lateration.RobustLateration2DSolver

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
PROSACRobustLateration2DSolver()	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Circle[] circles)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Circle[] circles, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(double[] qualityScores, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Circle[] circles)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Circle[] circles, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
PROSACRobustLateration2DSolver(RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.numerical.robust.RobustEstimatorMethod	getMethod()	Returns method being used for robust estimation.
double[]	getQualityScores()	Returns quality scores corresponding to each pair of positions and distances (i.e. sample).
double	getThreshold()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
private void	internalSetQualityScores(double[] qualityScores)	Sets quality scores corresponding to each provided sample.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResiduals()	Indicates whether residuals must be computed and kept.
boolean	isReady()	Indicates whether solver is ready to find a solution.
void	setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)	Specifies whether inliers must be computed and kept.
void	setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)	Specifies whether residuals must be computed and kept.
void	setQualityScores(double[] qualityScores)	Sets quality scores corresponding to each pair of positions and distances (i.e. sample).
void	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not when testing possible solutions.
com.irurueta.geometry.Point2D	solve()	Solves the lateration problem.

Methods inherited from class com.irurueta.navigation.lateration.RobustLateration2DSolver

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, getCircles, getMinRequiredPositionsAndDistances, getNumberOfDimensions, setCircles, setCirclesAndStandardDeviations, setPreliminarySubsetSize, solvePreliminarySolutions

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

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

DEFAULT_COMPUTE_AND_KEEP_INLIERS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS

Indicates that by default inliers will only be computed but not kept.

See Also:

• Constant Field Values

DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

Indicates that by default residuals will only be computed but not kept.

See Also:

• Constant Field Values

threshold

private double threshold

Threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

computeAndKeepInliers

private boolean computeAndKeepInliers

Indicates whether inliers must be computed and kept.

computeAndKeepResiduals

private boolean computeAndKeepResiduals

Indicates whether residuals must be computed and kept.

qualityScores

private double[] qualityScores

Quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

Constructor Details

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver()

Constructor.

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

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

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(com.irurueta.geometry.Point2D[] 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 of their length is smaller than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(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 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 (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<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 such as when estimation stats, 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 (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 RobustLaterationSolverListener<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 such as when estimation stats, 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 (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(com.irurueta.geometry.Circle[] circles)

Constructor.

Parameters:

circles - circles defining positions and distances.

Throws:

IllegalArgumentException - if circles is null or if length or circles array is less than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(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, length of circles array is less than required (3 points) or don't have the same length.

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

circles - circles 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 circles is null or if length of circles array is less than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<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 such as when estimation starts, ends or its progress significantly changes.

Throws:

IllegalArgumentException - if circles is null, length of circles array is less than required (3 points) or don't have the same length.

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

Throws:

IllegalArgumentException - if quality scores is null, length of quality scores is less than required minimum (3 samples).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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

Throws:

IllegalArgumentException - if quality scores is null, length of quality scores is less than required minimum (3 samples).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

positions - known positions of static nodes.

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

Throws:

IllegalArgumentException - if either positions, distances or quality scores are null, don't have the same length of their length is smaller than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, distances, quality scores or standard deviations are null, don't have the same length or their length is smaller than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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 (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

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, distances, quality scores or standard deviations are null, don't have the same length or their length is smaller than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

circles - circles defining positions and distances.

Throws:

IllegalArgumentException - if either circles or quality scores are null don't have the same length or their length is less than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

circles - circles defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

Throws:

IllegalArgumentException - if either circles, quality scores or standard deviations are null, don't have the same length or their length is less than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

circles - circles 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 either circles or quality scores are null, don't have the same length or their length is less than required (3 points).

PROSACRobustLateration2DSolver

public PROSACRobustLateration2DSolver(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Constructor.

Parameters:

qualityScores - quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

circles - circles 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 either circles, quality scores or standard deviations are null, don't have the same length or their length is less than required (3 points).

Method Details

getThreshold

public double getThreshold()

Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

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 when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.

Parameters:

threshold - threshold to determine whether samples are inliers or not.

Throws:

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

LockedException - if this solver is locked.

getQualityScores

public double[] getQualityScores()

Returns quality scores corresponding to each pair of positions and distances (i.e. sample). The larger the score value the better the quality of the sample.

Overrides:

getQualityScores in class RobustLaterationSolver<com.irurueta.geometry.Point2D>

Returns:

quality scores corresponding to each sample.

setQualityScores

public void setQualityScores(double[] qualityScores)
                      throws LockedException

Sets quality scores corresponding to each pair of positions and distances (i.e. sample). The larger the score value the better the quality of the sample.

Overrides:

setQualityScores in class RobustLaterationSolver<com.irurueta.geometry.Point2D>

Parameters:

qualityScores - quality scores corresponding to each pair of matched points.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.

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

isReady

public boolean isReady()

Indicates whether solver is ready to find a solution.

Overrides:

isReady in class RobustLaterationSolver<com.irurueta.geometry.Point2D>

Returns:

true if solver is ready, false otherwise.

isComputeAndKeepInliersEnabled

public boolean isComputeAndKeepInliersEnabled()

Indicates whether inliers must be computed and kept.

Returns:

true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

setComputeAndKeepInliersEnabled

public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)
                                     throws LockedException

Specifies whether inliers must be computed and kept.

Parameters:

computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.

Throws:

LockedException - if this solver is locked.

isComputeAndKeepResiduals

public boolean isComputeAndKeepResiduals()

Indicates whether residuals must be computed and kept.

Returns:

true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

setComputeAndKeepResidualsEnabled

public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)
                                       throws LockedException

Specifies whether residuals must be computed and kept.

Parameters:

computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.

Throws:

LockedException - if this solver is locked.

solve

public com.irurueta.geometry.Point2D solve()
                                    throws LockedException,
NotReadyException,
com.irurueta.numerical.robust.RobustEstimatorException

Solves the lateration problem.

Specified by:

solve in class RobustLaterationSolver<com.irurueta.geometry.Point2D>

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.Point2D>

Returns:

method being used for robust estimation.

internalSetQualityScores

private void internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided sample. This method is used internally and does not check whether instance is locked or not.

Parameters:

qualityScores - quality scores to be set.

Throws:

IllegalArgumentException - if provided quality scores length is smaller than 3 samples.