no.kartverket.positionorientation

Class Transform.PointInTerrainObservation

java.lang.Object

no.kartverket.positionorientation.Transform.PointInTerrainObservation

All Implemented Interfaces:

Transform.Observation

Enclosing class:

Transform

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

observation of a tango point that should lie on a terrain model surface

Field Summary

Fields

Modifier and Type	Field and Description
(package private) DTMGrid	grid A surface model describing the terrain.
(package private) float[]	plane A plane equation in world coordinates for the closest facet of the terrain surface to this point.
(package private) float	sd a priori standard deviation of distance between surface and point
(package private) float	v a posteriori estimate of residual (distance between surface and point)
(package private) float	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
PointInTerrainObservation()

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

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

sd

float sd

a priori standard deviation of distance between surface and point

v

float v

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

v_sd

float v_sd

a posteriori estimate of standard deviation of residual

plane

float[] plane

A plane equation in world coordinates for the closest facet of the terrain surface to this point. Points with coordinates x, y, z in the plane should satisfy the equation x*plane[0] + y*plane[1] + z*plane[2] == plane[3] and the 3 dimensional vector [plane[0], plane[1], plane[2]] should be normalized to unity

grid

DTMGrid grid

A surface model describing the terrain. The surface grid should be able to find the plane equation of the closest facet to a point in world coordinates using the method DTMGrid.getSurfacePlane(float, float, float).

Constructor Detail

PointInTerrainObservation

public PointInTerrainObservation()

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