Package com.irurueta.navigation.lateration

Class InhomogeneousLinearLeastSquaresLaterationSolver<P extends com.irurueta.geometry.Point<P>>

java.lang.Object

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

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

Type Parameters:

P - a Point type.

Direct Known Subclasses:

InhomogeneousLinearLeastSquaresLateration2DSolver, InhomogeneousLinearLeastSquaresLateration3DSolver

public abstract class InhomogeneousLinearLeastSquaresLaterationSolver<P extends com.irurueta.geometry.Point<P>>
extends LaterationSolver<P>

Linearly solves the lateration problem using an inhomogeneous solution. This class is base on the implementation found at: https://github.com/lemmingapex/trilateration Further information and algorithms can be found at Willy Hereman and William S. Murphy Jr. Determination of a Position in Three Dimensions Using Trilateration and Approximate Distances.

Field Summary

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

distances, EPSILON, estimatedPositionCoordinates, listener, locked, positions

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	InhomogeneousLinearLeastSquaresLaterationSolver()	Constructor.
protected	InhomogeneousLinearLeastSquaresLaterationSolver(LaterationSolverListener<P> listener)	Constructor.
protected	InhomogeneousLinearLeastSquaresLaterationSolver(P[] positions, double[] distances)	Constructor.
protected	InhomogeneousLinearLeastSquaresLaterationSolver(P[] positions, double[] distances, LaterationSolverListener<P> listener)	Constructor.

Method Summary

Modifier and Type	Method	Description
LaterationSolverType	getType()	Gets lateration solver type.
void	solve()	Solves the lateration problem.

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

getDistances, getEstimatedPosition, getEstimatedPosition, getEstimatedPositionCoordinates, getListener, getMinRequiredPositionsAndDistances, getNumberOfDimensions, getPositions, internalSetPositionsAndDistances, isLocked, isReady, setListener, setPositionsAndDistances

Methods inherited from class java.lang.Object

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

Constructor Details

InhomogeneousLinearLeastSquaresLaterationSolver

protected InhomogeneousLinearLeastSquaresLaterationSolver()

Constructor.

InhomogeneousLinearLeastSquaresLaterationSolver

protected InhomogeneousLinearLeastSquaresLaterationSolver(P[] positions,
 double[] distances)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

Throws:

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

InhomogeneousLinearLeastSquaresLaterationSolver

protected InhomogeneousLinearLeastSquaresLaterationSolver(LaterationSolverListener<P> listener)

Constructor.

Parameters:

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

InhomogeneousLinearLeastSquaresLaterationSolver

protected InhomogeneousLinearLeastSquaresLaterationSolver(P[] positions,
 double[] distances,
 LaterationSolverListener<P> listener)

Constructor.

Parameters:

positions - known positions of static nodes.

distances - euclidean distances from static nodes to mobile node.

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

Throws:

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

Method Details

solve

public void solve()
           throws LaterationException,
NotReadyException,
LockedException

Solves the lateration problem.

Specified by:

solve in class LaterationSolver<P extends com.irurueta.geometry.Point<P>>

Throws:

LaterationException - if lateration fails.

NotReadyException - if solver is not ready.

LockedException - if instance is busy solving the lateration problem.

getType

public LaterationSolverType getType()

Gets lateration solver type.

Specified by:

getType in class LaterationSolver<P extends com.irurueta.geometry.Point<P>>

Returns:

lateration solver type.