Transform.PositionObservation2D

java.lang.Object
- no.kartverket.positionorientation.Transform.PositionObservation2D

All Implemented Interfaces:

Transform.Observation

Direct Known Subclasses:

Transform.PositionObservation3D

Enclosing class:

Transform
```
public class Transform.PositionObservation2D
extends java.lang.Object
implements Transform.Observation
```
A 2D position observation, contains a "tango" and a "world" position describing the same point, and their respecive a-priori standard deviations

Field Summary

Fields
Modifier and Type	Field and Description
`(package private) float`	`x_t` x coordinate for tango position
`(package private) float`	`x_t_sd` a priori standard deviation of x coordinate for tango position
`(package private) float`	`x_t_v` a posteriori estimate of residual of x coordinate for tango position
`(package private) float`	`x_t_v_sd` a posteriori estimate of standard deviation of x coordinate for tango position
`(package private) float`	`x_w` x coordinate for world position
`(package private) float`	`x_w_sd` a priori standard deviation of x coordinate for world position
`(package private) float`	`x_w_v` a posteriori estimate of residual of x coordinate for world position
`(package private) float`	`x_w_v_sd` a posteriori estimate of standard deviation of x coordinate for world position
`(package private) float`	`y_t` y coordinate for tango position
`(package private) float`	`y_t_sd` a priori standard deviation of y coordinate for tango position
`(package private) float`	`y_t_v` a posteriori estimate of residual of y coordinate for tango position
`(package private) float`	`y_t_v_sd` a posteriori estimate of standard deviation of y coordinate for tango position
`(package private) float`	`y_w` y coordinate for world position
`(package private) float`	`y_w_sd` a priori standard deviation of y coordinate for world position
`(package private) float`	`y_w_v` a posteriori estimate of residual of y coordinate for world position
`(package private) float`	`y_w_v_sd` a posteriori estimate of standard deviation of y coordinate for world position

Constructor Summary

Constructors
Constructor and Description

PositionObservation2D()

Constructors
Constructor and Description
`PositionObservation2D()`

Method Summary

All Methods Instance Methods Concrete Methods
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_w
```
float x_w
```
    x coordinate for world position
  - y_w
```
float y_w
```
    y coordinate for world position
  - x_t
```
float x_t
```
    x coordinate for tango position
  - y_t
```
float y_t
```
    y coordinate for tango position
  - x_w_sd
```
float x_w_sd
```
    a priori standard deviation of x coordinate for world position
  - y_w_sd
```
float y_w_sd
```
    a priori standard deviation of y coordinate for world position
  - x_t_sd
```
float x_t_sd
```
    a priori standard deviation of x coordinate for tango position
  - y_t_sd
```
float y_t_sd
```
    a priori standard deviation of y coordinate for tango position
  - x_w_v
```
float x_w_v
```
    a posteriori estimate of residual of x coordinate for world position
  - y_w_v
```
float y_w_v
```
    a posteriori estimate of residual of y coordinate for world position
  - x_t_v
```
float x_t_v
```
    a posteriori estimate of residual of x coordinate for tango position
  - y_t_v
```
float y_t_v
```
    a posteriori estimate of residual of y coordinate for tango position
  - x_w_v_sd
```
float x_w_v_sd
```
    a posteriori estimate of standard deviation of x coordinate for world position
  - y_w_v_sd
```
float y_w_v_sd
```
    a posteriori estimate of standard deviation of y coordinate for world position
  - x_t_v_sd
```
float x_t_v_sd
```
    a posteriori estimate of standard deviation of x coordinate for tango position
  - y_t_v_sd
```
float y_t_v_sd
```
    a posteriori estimate of standard deviation of y coordinate for tango position
- Constructor Detail
  - PositionObservation2D
```
public PositionObservation2D()
```
- 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

Class Transform.PositionObservation2D

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

x_w

y_w

x_t

y_t

x_w_sd

y_w_sd

x_t_sd

y_t_sd

x_w_v

y_w_v

x_t_v

y_t_v

x_w_v_sd

y_w_v_sd

x_t_v_sd

y_t_v_sd

Constructor Detail

PositionObservation2D

Method Detail

addToNormalEquations

computeResiduals

numConditions