no.kartverket.positionorientation

Class Transform.PositionObservation3D

java.lang.Object

no.kartverket.positionorientation.Transform.PositionObservation2D

no.kartverket.positionorientation.Transform.PositionObservation3D

All Implemented Interfaces:

Transform.Observation

Enclosing class:

Transform

public class Transform.PositionObservation3D
extends Transform.PositionObservation2D

A 3D 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	z_t z coordinate for tango position
(package private) float	z_t_sd a priori standard deviation of z coordinate for tango position
(package private) float	z_t_v a posteriori estimate of residual of z coordinate for tango position
(package private) float	z_t_v_sd a posteriori estimate of standard deviation of z coordinate for tango position
(package private) float	z_w z coordinate for world position
(package private) float	z_w_sd a priori standard deviation of z coordinate for world position
(package private) float	z_w_v a posteriori estimate of residual of z coordinate for world position
(package private) float	z_w_v_sd a posteriori estimate of standard deviation of z coordinate for world position

Fields inherited from class no.kartverket.positionorientation.Transform.PositionObservation2D

x_t, x_t_sd, x_t_v, x_t_v_sd, x_w, x_w_sd, x_w_v, x_w_v_sd, y_t, y_t_sd, y_t_v, y_t_v_sd, y_w, y_w_sd, y_w_v, y_w_v_sd

Constructor Summary

Constructors

Constructor and Description
PositionObservation3D()

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

z_w

float z_w

z coordinate for world position

z_t

float z_t

z coordinate for tango position

z_w_sd

float z_w_sd

a priori standard deviation of z coordinate for world position

z_t_sd

float z_t_sd

a priori standard deviation of z coordinate for tango position

z_w_v

float z_w_v

a posteriori estimate of residual of z coordinate for world position

z_t_v

float z_t_v

a posteriori estimate of residual of z coordinate for tango position

z_w_v_sd

float z_w_v_sd

a posteriori estimate of standard deviation of z coordinate for world position

z_t_v_sd

float z_t_v_sd

a posteriori estimate of standard deviation of z coordinate for tango position

Constructor Detail

PositionObservation3D

public PositionObservation3D()

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

Overrides:

addToNormalEquations in class Transform.PositionObservation2D

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

Overrides:

computeResiduals in class Transform.PositionObservation2D

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

Overrides:

numConditions in class Transform.PositionObservation2D

Returns:

number of conditions