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java.lang.Objectsugr.Element
This class is the "mother" of all elements like like Point_2D, Line_3D, Plane_3D, Transformation and so on. It's abstract and it is a place where non specific method may be placed This class knowns nothing about a homogenous and euclidean part. This distinction is done in the subclass Entity.
Field Summary | |
private static double |
CHANGETHRESHOLD
Factor between unknown and its accuracy for stopping iteration |
private static double |
CONSTRAINTZEROTHRESHOLD
Function ensureConstraints: Threshold for the constraint value to be zero. |
protected Matrix |
cov
Represents the Covariance Matrix |
private static double |
EPSILON
Variance in direction of Nullspace. |
protected static int |
MAXITER
Default maximal number of iterations for Gauss-Helmert iteration |
private static int |
MAXITER2
Maximal number of iterations for applying constraints |
protected Vector |
v
Represents the coordinates of an Entitiy like Point_3D. |
Constructor Summary | |
Element()
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Method Summary | |
void |
approximate(RelationalProperty[] rprops)
Compute an approximation of an entity. |
protected static Matrix |
calcCov(Matrix U_x,
Matrix Sigma_x,
Matrix V_y,
Matrix Sigma_y)
starts the error propagation of the uncertainty elements |
void |
changeNullspace()
The covariance matrix is changed in that way: An orthogonal projection onto {y}^{orthogonal} will be done. |
void |
changeNullspace(double epsilon)
The covariance matrix is changed in that way: An orthogonal projection onto {y}^{orthogonal} will be done. |
void |
checkCovDim(Matrix cov,
int dim)
Checks the dimension of a given covariance matrix if it matches the dimension of the element |
static void |
checkElement(Vector vec,
int dim)
Checks if not all values are = 0. |
java.lang.Object |
clone()
Clone an element. |
abstract void |
doCondition(double[] f)
Condition that element with a set of conditioning factors. |
void |
ensureConstraints()
Change the entity (covariance not changed) in that way, that all constraints (given by getConstraintValue) are fulfilled. |
boolean |
estimate(RelationalProperty[] rprops)
Estimation of that entity out of given relational properties. |
boolean |
estimate(RelationalProperty[] rprops,
boolean doConditioning,
int maxiter,
RelationalProperty[] yhat,
double[] sigma0,
int[] no_of_iterations,
boolean estimate_sigma0)
Estimation of that entity out of given relational properties. |
boolean |
gaussHelmertIterations(RelationalProperty[] rprops,
int maxiter,
RelationalProperty[] yhat,
double[] sigma0,
int[] no_of_iterations,
boolean estimate_sigma0)
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boolean |
gaussHelmertIterationsOld(RelationalProperty[] rprops,
int maxiter,
RelationalProperty[] yhaterg,
double[] sigma0,
int[] no_of_iterations,
boolean estimate_sigma0)
Iterations of a Gauss-Helmert model for estimating new entities. |
protected Vector |
getConstraintValue()
Get the value of the constraint (h(beta) or g(y)) if this entity is an unknown or an observation. |
Matrix |
getCov()
returns the Covariance Matrix. |
abstract int |
getDegreesOfFreedom()
returns the minimum number of parameters to construct an element |
abstract int |
getDimension()
returns the dimension of an element. |
Matrix |
getJacobianOfConstraint()
Get the Jacobian of the constraint (H, G) if this entity is an unkown or an observation. |
abstract Matrix |
getJacobianOfRelation(RelationalProperty r)
Return Jacobian Matrix in combination with a relation. |
protected Matrix[] |
getReducedAB(RelationalProperty r)
Get the reduced Matrix A and B from a relational property. |
Vector |
getV()
returns coordinates of the element in a Vector BE CAREFUL: You get the reference of the vector, so a change of the reference results in a change of the Element ! |
void |
normalizeSphere()
Normalize this element to unit-vector length |
void |
normalizeSphereComparable()
Sherical normalization with comparable result: To avoid a sign ambiguity the largest element |xi| of v is positive after this normalization. |
void |
print()
prints this element to stdout. |
void |
print(int width,
int digits)
prints this element to stdout. |
static Matrix[] |
reduceFirstMatrix(Matrix A,
Matrix B,
int dof)
Reduce two Jacobian matrixes consistently based on solely the first matrix A. |
static Matrix |
reduceMatrix(Matrix A,
int dof)
Reduce a Jacobian matrix. |
static Matrix[] |
reduceMatrix(Matrix A,
Matrix B,
int dof)
Reduce two Jacobian matrixes consistently. |
void |
setCov(Matrix C)
Sets the covariance matrix of this element. |
void |
setV(Vector v)
Sets the coordinates of the element BE CAREFUL: The reference is set, so no copy is made ! |
java.lang.String |
toString()
Print out element. |
Methods inherited from class java.lang.Object |
equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait |
Field Detail |
protected Matrix cov
protected Vector v
protected static final int MAXITER
private static final double CHANGETHRESHOLD
private static final double EPSILON
private static final int MAXITER2
private static final double CONSTRAINTZEROTHRESHOLD
Constructor Detail |
public Element()
Method Detail |
public Matrix getCov()
public void setCov(Matrix C)
C
- containing a suitable matrixpublic Vector getV()
public void setV(Vector v)
v
- contains the coordinatespublic abstract int getDegreesOfFreedom()
public abstract int getDimension()
public abstract void doCondition(double[] f)
f
- conditioning factors.public java.lang.String toString()
public void normalizeSphere()
public void normalizeSphereComparable()
public void changeNullspace()
public void changeNullspace(double epsilon)
epsilon
- amount, that is added to the null-directionpublic void print(int width, int digits)
width
- describes the space a value has to show itselfdigits
- how many places after the comma should be shown.
it is not clever to choose digits >= widthpublic void print()
public void checkCovDim(Matrix cov, int dim)
cov
- the covariance matrix to be checkeddim
- the dimension of the elementpublic static void checkElement(Vector vec, int dim)
vec
- the coordinates to be checkeddim
- the dimension of the elementpublic java.lang.Object clone()
public void approximate(RelationalProperty[] rprops)
rprops
- a set of relational Properties which should be fullfilled.public boolean estimate(RelationalProperty[] rprops)
rprops
- the observationspublic boolean estimate(RelationalProperty[] rprops, boolean doConditioning, int maxiter, RelationalProperty[] yhat, double[] sigma0, int[] no_of_iterations, boolean estimate_sigma0)
rprops
- the observationsdoConditioning
- if true, a conditioning is done.maxiter
- maximum number of iterations.yhat
- corrected observations, spherically normalized. yhat=y-ehat.sigma0
- sigma0 of the last iterations (sqrt(sigma2)) as
an output parameter (array with 1 element)no_of_iterations
- number of iterations computed (output
parameter: array with 1 element)
public boolean gaussHelmertIterations(RelationalProperty[] rprops, int maxiter, RelationalProperty[] yhat, double[] sigma0, int[] no_of_iterations, boolean estimate_sigma0)
public boolean gaussHelmertIterationsOld(RelationalProperty[] rprops, int maxiter, RelationalProperty[] yhaterg, double[] sigma0, int[] no_of_iterations, boolean estimate_sigma0)
rprops
- the (already conditioned) observationsmaxiter
- maximum number of iterations.yhaterg
- corrected observations, spherically normalized. yhat=y-ehat.sigma0
- sigma0 of the last iterations (sqrt(sigma2)) as
an output parameter (array with 1 element)no_of_iterations
- number of iterations computed (output
parameter: array with 1 element)
protected Vector getConstraintValue()
protected Matrix[] getReducedAB(RelationalProperty r)
r
- the relational Property
public static Matrix reduceMatrix(Matrix A, int dof)
A
- the matrix to reducedof
- the degrees of freedom=rank=number of rows of the
reduced matrix.
public static Matrix[] reduceMatrix(Matrix A, Matrix B, int dof)
A
- the first matrix to reduceB
- the second matrix to reducedof
- the degrees of freedom=rank=number of rows of the
reduced matrixes.
public static Matrix[] reduceFirstMatrix(Matrix A, Matrix B, int dof)
A
- the matrix to reducedof
- the degrees of freedom=rank=number of rows of the
reduced matrixes.
public abstract Matrix getJacobianOfRelation(RelationalProperty r)
r
- a relational Property.
public Matrix getJacobianOfConstraint()
protected static Matrix calcCov(Matrix U_x, Matrix Sigma_x, Matrix V_y, Matrix Sigma_y)
U_x
- The first jacobian between element 1 and 2Sigma_x
- the covariance matrix of element 1V_y
- the second jacobian between element 2 and 1Sigma_y
- the covariance matrix of element 2
public void ensureConstraints()
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