Package com.irurueta.navigation.lateration

Class RANSACRobustLateration3DSolver

java.lang.Object

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

com.irurueta.navigation.lateration.RobustLateration3DSolver

com.irurueta.navigation.lateration.RANSACRobustLateration3DSolver

public class RANSACRobustLateration3DSolver
extends RobustLateration3DSolver

Robustly solves the lateration problem by finding the best pairs of 3D positions and distances among the provided ones using RANSAC 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	threshold	Threshold to determine whether samples are inliers or not when testing possible 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
RANSACRobustLateration3DSolver()	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances)	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations)	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Point3D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres)	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations)	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
RANSACRobustLateration3DSolver(com.irurueta.geometry.Sphere[] spheres, RobustLaterationSolverListener<com.irurueta.geometry.Point3D> listener)	Constructor.
RANSACRobustLateration3DSolver(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()	Gets threshold to determine whether samples are inliers or not when testing possible solutions.
boolean	isComputeAndKeepInliersEnabled()	Indicates whether inliers must be computed and kept.
boolean	isComputeAndKeepResiduals()	Indicates whether residuals must be computed and kept.
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	setThreshold(double threshold)	Sets threshold to determine whether samples are inliers or not when testing possible solutions.
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

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.

Constructor Details

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver()

Constructor.

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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.

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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).

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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).

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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).

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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).

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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).

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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.

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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).

RANSACRobustLateration3DSolver

public RANSACRobustLateration3DSolver(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()

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.

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.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.