Package com.irurueta.navigation.lateration

Class RobustLateration2DSolver

java.lang.Object

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

com.irurueta.navigation.lateration.RobustLateration2DSolver

Direct Known Subclasses:

LMedSRobustLateration2DSolver, MSACRobustLateration2DSolver, PROMedSRobustLateration2DSolver, PROSACRobustLateration2DSolver, RANSACRobustLateration2DSolver

public abstract class RobustLateration2DSolver
extends RobustLaterationSolver<com.irurueta.geometry.Point2D>

This is an abstract class to robustly solve the lateration problem by finding the best pairs of 2D positions and distances among the provided ones. Implementations of this class should be able to detect and discard outliers in order to find the best solution.

Field Summary

Fields

Modifier and Type	Field	Description
protected HomogeneousLinearLeastSquaresLateration2DSolver	homogeneousLinearSolver	Homogeneous linear lateration solver internally used by a robust algorithm.
protected InhomogeneousLinearLeastSquaresLateration2DSolver	inhomogeneousLinearSolver	Linear lateration solver internally used by a robust algorithm.
protected double[]	innerDistances	Distances for linear inner solver used during robust estimation.
protected double[]	innerDistanceStandardDeviations	Standard deviations for non-linear inner solver used during robust estimation.
protected com.irurueta.geometry.Point2D[]	innerPositions	Positions for linear inner solver used during robust estimation.
protected NonLinearLeastSquaresLateration2DSolver	nonLinearSolver	Non-linear lateration solver internally used to refine solution found by robust algorithm.

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

Modifier	Constructor	Description
protected	RobustLateration2DSolver()	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Circle[] circles)	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations)	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Circle[] circles, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances)	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations)	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
protected	RobustLateration2DSolver(com.irurueta.geometry.Point2D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.
protected	RobustLateration2DSolver(RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected com.irurueta.geometry.Point2D	attemptRefine(com.irurueta.geometry.Point2D position)	Attempts to refine estimated position if refinement is requested.
static RobustLateration2DSolver	create()	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Circle[] circles)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Circle[] circles, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.geometry.Point2D[] positions, double[] distances, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(double[] qualityScores, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(double[] qualityScores, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles, double[] distanceStandardDeviations, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Circle[] circles, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances, double[] distanceStandardDeviations, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances, RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.geometry.Point2D[] positions, double[] distances, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)	Creates a robust 2D lateration solver using default robust method.
static RobustLateration2DSolver	create(RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener, com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
static RobustLateration2DSolver	create(com.irurueta.numerical.robust.RobustEstimatorMethod method)	Creates a robust 2D lateration solver.
com.irurueta.geometry.Circle[]	getCircles()	Gets circles defined by provided positions and distances.
int	getMinRequiredPositionsAndDistances()	Minimum required number of positions and distances.
int	getNumberOfDimensions()	Gets number of dimensions of provided points.
private void	init()	Setup inner positions and distances.
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.
void	setPreliminarySubsetSize(int preliminarySubsetSize)	Sets size of subsets to be checked during robust estimation.
protected void	solvePreliminarySolutions(int[] samplesIndices, List<com.irurueta.geometry.Point2D> solutions)	Solves a preliminary solution for a subset of samples picked by a robust estimator.

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

getConfidence, getCovariance, getDistances, getDistanceStandardDeviations, getEstimatedPosition, getInitialPosition, getInliersData, getListener, getMaxIterations, getMethod, 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, solve

Methods inherited from class java.lang.Object

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

Field Details

inhomogeneousLinearSolver

protected InhomogeneousLinearLeastSquaresLateration2DSolver inhomogeneousLinearSolver

Linear lateration solver internally used by a robust algorithm.

homogeneousLinearSolver

protected HomogeneousLinearLeastSquaresLateration2DSolver homogeneousLinearSolver

Homogeneous linear lateration solver internally used by a robust algorithm.

nonLinearSolver

protected NonLinearLeastSquaresLateration2DSolver nonLinearSolver

Non-linear lateration solver internally used to refine solution found by robust algorithm.

innerPositions

protected com.irurueta.geometry.Point2D[] innerPositions

Positions for linear inner solver used during robust estimation.

innerDistances

protected double[] innerDistances

Distances for linear inner solver used during robust estimation.

innerDistanceStandardDeviations

protected double[] innerDistanceStandardDeviations

Standard deviations for non-linear inner solver used during robust estimation.

Constructor Details

RobustLateration2DSolver

protected RobustLateration2DSolver()

Constructor.

RobustLateration2DSolver

protected RobustLateration2DSolver(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.

RobustLateration2DSolver

protected RobustLateration2DSolver(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 or their length is smaller than required (3 points).

RobustLateration2DSolver

protected RobustLateration2DSolver(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).

RobustLateration2DSolver

protected RobustLateration2DSolver(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 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 (3 points).

RobustLateration2DSolver

protected RobustLateration2DSolver(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 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).

RobustLateration2DSolver

protected RobustLateration2DSolver(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 required (3 points).

RobustLateration2DSolver

protected RobustLateration2DSolver(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.

RobustLateration2DSolver

protected RobustLateration2DSolver(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).

RobustLateration2DSolver

protected RobustLateration2DSolver(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.

Method Details

getNumberOfDimensions

public int getNumberOfDimensions()

Gets number of dimensions of provided points.

Specified by:

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

Returns:

always returns 2 dimensions.

getMinRequiredPositionsAndDistances

public int getMinRequiredPositionsAndDistances()

Minimum required number of positions and distances. At least 3 positions will be required.

Specified by:

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

Returns:

minimum required number of positions and distances.

setPreliminarySubsetSize

public void setPreliminarySubsetSize(int preliminarySubsetSize)
                              throws LockedException

Sets size of subsets to be checked during robust estimation. This has to be at least getMinRequiredPositionsAndDistances().

Overrides:

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

Parameters:

preliminarySubsetSize - size of subsets to be checked during robust estimation.

Throws:

LockedException - if instance is busy solving the lateration problem.

IllegalArgumentException - if provided value is less than getMinRequiredPositionsAndDistances().

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 3.

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 3 or don't have the same length.

LockedException - if instance is busy solving the lateration problem.

create

public static RobustLateration2DSolver create(com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

create

public static RobustLateration2DSolver create(RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

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

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

positions - known positions of static nodes.

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

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

positions - known positions of static nodes.

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

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

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

positions - known positions of static nodes.

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

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

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

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

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

circles - circles defining positions and distances.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

circles - circles defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

Parameters:

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

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener,
 com.irurueta.numerical.robust.RobustEstimatorMethod method)

Creates a robust 2D lateration solver.

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.

method - robust estimator method.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create()

Creates a robust 2D lateration solver using default robust method.

Returns:

a new robust 2D lateration solver.

create

public static RobustLateration2DSolver create(RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

Parameters:

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

Returns:

a new robust 2D lateration solver.

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances)

Creates a robust 2D lateration solver using default robust method.

Parameters:

positions - known positions of static nodes.

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

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations)

Creates a robust 2D lateration solver using default robust method.

Parameters:

positions - known positions of static nodes.

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

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

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

Parameters:

positions - known positions of static nodes.

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

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

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

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.

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

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles)

Creates a robust 2D lateration solver using default robust method.

Parameters:

circles - circles defining positions and distances.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations)

Creates a robust 2D lateration solver using default robust method.

Parameters:

circles - circles defining positions and distances.

distanceStandardDeviations - standard deviations of provided measured distances.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores)

Creates a robust 2D lateration solver using default robust method.

Parameters:

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

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

Throws:

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

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations)

Creates a robust 2D lateration solver using default robust method.

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 distance from static nodes to mobile node to be estimated.

distanceStandardDeviations - standard deviations of provided measured distances.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 3D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Point2D[] positions,
 double[] distances,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

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).

create

public static RobustLateration2DSolver create(double[] qualityScores,
 com.irurueta.geometry.Circle[] circles,
 double[] distanceStandardDeviations,
 RobustLaterationSolverListener<com.irurueta.geometry.Point2D> listener)

Creates a robust 2D lateration solver using default robust method.

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.

Returns:

a new robust 2D lateration solver.

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).

attemptRefine

protected com.irurueta.geometry.Point2D attemptRefine(com.irurueta.geometry.Point2D position)

Attempts to refine estimated position if refinement is requested. This method returns a refined solution or provided input if refinement is not requested or has failed. If refinement is enabled, and it is requested to keep covariance, this method will also keep covariance of refined position.

Parameters:

position - position estimated by a robust estimator without refinement.

Returns:

solution after refinement (if requested) or provided non-refined estimated position if not requested or refinement failed.

solvePreliminarySolutions

protected void solvePreliminarySolutions(int[] samplesIndices,
 List<com.irurueta.geometry.Point2D> solutions)

Solves a preliminary solution for a subset of samples picked by a robust estimator.

Parameters:

samplesIndices - indices of samples picked by the robust estimator.

solutions - list where estimated preliminary solution will be stored.

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 getMinRequiredPositionsAndDistances().

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 3 or don't have the same length.

init

private void init()

Setup inner positions and distances.