no.kartverket.positionorientation

Class Transform.PointInPlaneObservation

java.lang.Object

no.kartverket.positionorientation.Transform.PointInPlaneObservation

All Implemented Interfaces:

Transform.Observation

Enclosing class:

Transform

public class Transform.PointInPlaneObservation
extends java.lang.Object
implements Transform.Observation

observation of a tango point that should lie in a plane described by world coordinates

Field Summary

Fields

Modifier and Type	Field and Description
(package private) float	a Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity
(package private) float	b Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity
(package private) float	c Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity
(package private) float	d Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity
(package private) float	plane_sd a priori standard deviation of distance between plane and point
(package private) float	plane_v a posteriori estimate of residual (distance between plane and point)
(package private) float	plane_v_sd a posteriori estimate of standard deviation of residual
(package private) float	x_t x coordinate for tango position
(package private) float	y_t y coordinate for tango position
(package private) float	z_t z coordinate for tango position

Constructor Summary

Constructors

Constructor and Description
PointInPlaneObservation()

Method Summary

Modifier and Type	Method and Description
void	addToNormalEquations(Transform.Parameters p, float weight) Add data for this observation to the normal equation system
float	computeResiduals(Transform.Parameters p) Compute maximum normalized residual for this observation
int	numConditions() Return number of condition equations for this observation

Methods inherited from class java.lang.Object

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

Field Detail

a

float a

Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity

b

float b

Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity

c

float c

Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity

d

float d

Parameters for a plane in world coordinates defined by the equation a*x + b*y + c*z == d where the vector [a,b,c] should be normalized to unity

x_t

float x_t

x coordinate for tango position

y_t

float y_t

y coordinate for tango position

z_t

float z_t

z coordinate for tango position

plane_sd

float plane_sd

a priori standard deviation of distance between plane and point

plane_v

float plane_v

a posteriori estimate of residual (distance between plane and point)

plane_v_sd

float plane_v_sd

a posteriori estimate of standard deviation of residual

Constructor Detail

PointInPlaneObservation

public PointInPlaneObservation()

Method Detail

addToNormalEquations

public void addToNormalEquations(Transform.Parameters p,
                                 float weight)

Description copied from interface: Transform.Observation

Add data for this observation to the normal equation system

Specified by:

addToNormalEquations in interface Transform.Observation

Parameters:

p - The current model parameters

weight - The current observation weight

computeResiduals

public float computeResiduals(Transform.Parameters p)

Description copied from interface: Transform.Observation

Compute maximum normalized residual for this observation

Specified by:

computeResiduals in interface Transform.Observation

Parameters:

p - The current model parameters

Returns:

the normalized residual

numConditions

public int numConditions()

Description copied from interface: Transform.Observation

Return number of condition equations for this observation

Specified by:

numConditions in interface Transform.Observation

Returns:

number of conditions