agi.foundation.geometry

(agi.foundation.core-2024r3.jar)

Class DynamicCovariance3By3

java.lang.Object

agi.foundation.infrastructure.DefinitionalObject

agi.foundation.geometry.DynamicCovariance3By3

All Implemented Interfaces:

ICloneWithContext, IEnumerateDependencies, IEquatableDefinition, IFreezable, IServiceProvider

Direct Known Subclasses:

ConstantCovariance3By3, Covariance3By3SizeAndOrientationInterpolator

public abstract class DynamicCovariance3By3
extends DefinitionalObject
implements IServiceProvider

Holds the time-varying positional variance and covariance information for an object.

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	DynamicCovariance3By3() Initializes a new instance.
protected	DynamicCovariance3By3(DynamicCovariance3By3 existingInstance, CopyContext context) Initializes a new instance as a copy of an existing instance.

Method Summary

Modifier and Type	Method and Description
protected boolean	checkForSameDefinition(DefinitionalObject other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
protected abstract boolean	checkForSameDefinition(DynamicCovariance3By3 other) Checks to determine if another instance has the same definition as this instance and returns true if it does.
protected int	computeCurrentDefinitionHashCode() Computes a hash code based on the current properties of this object.
MotionEvaluator1<Cartesian>	getEllipsoidSizeEvaluator(Scalar sigmaFactor) Constructs an evaluator that calculates dimensions of the ellipsoid containing the uncertainty of a position over time.
MotionEvaluator1<Cartesian>	getEllipsoidSizeEvaluator(Scalar sigmaFactor, EvaluatorGroup group) Constructs an evaluator that calculates dimensions of the ellipsoid containing the uncertainty of a position over time.
Covariance3By3Evaluator	getEvaluator() Constructs an evaluator that calculates the size and orientation of the position covariance over time.
Covariance3By3Evaluator	getEvaluator(Axes definedIn) Constructs an evaluator that calculates the size and orientation of the position covariance over time.
abstract Covariance3By3Evaluator	getEvaluator(Axes definedIn, EvaluatorGroup group) Constructs an evaluator that calculates the size and orientation of the position covariance over time.
abstract Covariance3By3Evaluator	getEvaluator(EvaluatorGroup group) Constructs an evaluator that calculates the size and orientation of the position covariance over time.
abstract Axes	getOrientationAxes() Gets the time-varying axes of the covariance ellipsoid.
Object	getService(Class<?> serviceType) Gets the service object of the specified type.
MotionEvaluator1<Cartesian>	getStandardDeviationEvaluator() Constructs an evaluator that calculates the standard deviation (or sigma) of the position variance over time.
MotionEvaluator1<Cartesian>	getStandardDeviationEvaluator(EvaluatorGroup group) Constructs an evaluator that calculates the standard deviation (or sigma) of the position variance over time.

Methods inherited from class agi.foundation.infrastructure.DefinitionalObject

areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, areSameDefinition, clone, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, collectionItemsAreSameDefinition, dictionaryItemsAreSameDefinition, enumerateDependencies, freeze, freezeAggregatedObjects, getCollectionHashCode, getCollectionHashCode, getCollectionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDefinitionHashCode, getDictionaryHashCode, getIsFrozen, isSameDefinition, throwIfFrozen

Methods inherited from class java.lang.Object

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

Constructor Detail

DynamicCovariance3By3

protected DynamicCovariance3By3()

Initializes a new instance.

DynamicCovariance3By3

protected DynamicCovariance3By3(@Nonnull
                                DynamicCovariance3By3 existingInstance,
                                @Nonnull
                                CopyContext context)

Initializes a new instance as a copy of an existing instance.

See ICloneWithContext.clone(CopyContext) for more information about how to implement this constructor in a derived class.

Parameters:

existingInstance - The existing instance to copy.

context - A CopyContext that controls the depth of the copy.

Throws:

ArgumentNullException - Thrown when existingInstance or context is null.

Method Detail

checkForSameDefinition

protected final boolean checkForSameDefinition(DefinitionalObject other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Specified by:

checkForSameDefinition in class DefinitionalObject

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

checkForSameDefinition

protected abstract boolean checkForSameDefinition(DynamicCovariance3By3 other)

Checks to determine if another instance has the same definition as this instance and returns true if it does. Derived classes MUST override this method and check all new fields introduced by the derived class for definitional equivalence. It is NOT necessary to check base class fields because the base class will already have done that. When overriding this method, you should NOT call the base implementation because it will return false for all derived-class instances. Derived classes should check the type of other to preserve the symmetric nature of IEquatableDefinition.isSameDefinition(java.lang.Object).

Parameters:

other - The other instance to compare to this one.

Returns:

true if the two objects are defined equivalently; otherwise false.

computeCurrentDefinitionHashCode

protected int computeCurrentDefinitionHashCode()

Computes a hash code based on the current properties of this object. Derived classes MUST override this method and compute a hash code that combines: a unique hash code seed, the base implementation result, and the hash codes of all new fields introduced by the derived class which are used in the DynamicCovariance3By3.checkForSameDefinition(agi.foundation.infrastructure.DefinitionalObject) method.

Overrides:

computeCurrentDefinitionHashCode in class DefinitionalObject

Returns:

The computed hash code.

getService

@Nullable
public Object getService(@Nonnull
                                    Class<?> serviceType)

Gets the service object of the specified type.

Specified by:

getService in interface IServiceProvider

Parameters:

serviceType - An object that specifies the type of service object to get.

Returns:

The found service, or null if the service does not exist.

Throws:

ArgumentNullException - Thrown when serviceType is null.

getEvaluator

@Nonnull
public final Covariance3By3Evaluator getEvaluator(@Nonnull
                                                            Axes definedIn)

Constructs an evaluator that calculates the size and orientation of the position covariance over time.

Parameters:

definedIn - The reference axes the results will be defined in. The evaluated Covariance3By3SizeAndOrientation's Rotation (get) property is the rotation from the OrientationAxes (get) to this axes.

Returns:

The covariance evaluator.

getEvaluator

@Nonnull
public abstract Covariance3By3Evaluator getEvaluator(@Nonnull
                                                               Axes definedIn,
                                                               @Nonnull
                                                               EvaluatorGroup group)

Constructs an evaluator that calculates the size and orientation of the position covariance over time.

Parameters:

definedIn - The reference axes the results will be defined in. The evaluated Covariance3By3SizeAndOrientation's Rotation (get) property is the rotation from the OrientationAxes (get) to this axes.

group - The evaluator group in which to create the evaluator.

Returns:

The covariance evaluator.

getEvaluator

@Nonnull
public final Covariance3By3Evaluator getEvaluator()

Constructs an evaluator that calculates the size and orientation of the position covariance over time.

Returns:

The covariance evaluator.

getEvaluator

@Nonnull
public abstract Covariance3By3Evaluator getEvaluator(@Nonnull
                                                               EvaluatorGroup group)

Constructs an evaluator that calculates the size and orientation of the position covariance over time.

Parameters:

group - The evaluator group in which to create the evaluator.

Returns:

The covariance evaluator.

getOrientationAxes

public abstract Axes getOrientationAxes()

Gets the time-varying axes of the covariance ellipsoid.

getStandardDeviationEvaluator

@Nonnull
public final MotionEvaluator1<Cartesian> getStandardDeviationEvaluator()

Constructs an evaluator that calculates the standard deviation (or sigma) of the position variance over time. These sigmas correspond to the OrientationAxes (get).

This is equivalent to calling DynamicCovariance3By3.getEllipsoidSizeEvaluator(Scalar) with a sigma factor of 1.0.

Returns:

The sigma evaluator.

getStandardDeviationEvaluator

@Nonnull
public final MotionEvaluator1<Cartesian> getStandardDeviationEvaluator(@Nonnull
                                                                                 EvaluatorGroup group)

Constructs an evaluator that calculates the standard deviation (or sigma) of the position variance over time. These sigmas correspond to the OrientationAxes (get).

This is equivalent to calling DynamicCovariance3By3.getEllipsoidSizeEvaluator(Scalar,EvaluatorGroup) with a sigma factor of 1.0.

Parameters:

group - The evaluator group in which to create the evaluator.

Returns:

The sigma evaluator.

getEllipsoidSizeEvaluator

@Nonnull
public final MotionEvaluator1<Cartesian> getEllipsoidSizeEvaluator(@Nonnull
                                                                             Scalar sigmaFactor)

Constructs an evaluator that calculates dimensions of the ellipsoid containing the uncertainty of a position over time. This is created from the standard deviation (or sigma) of the position variance over time, as well as the given Scalar factor of how many standard deviations of uncertainty to use.

These sigmas correspond to the OrientationAxes (get).

Parameters:

sigmaFactor - The number of standard deviations to use to determine the ellipsoid dimensions. Use GaussianStatistics.multiDimensionalStandardDeviationFactor(int, double) to determine the factor necessary for the desired confidence interval.

Returns:

The sigma evaluator.

getEllipsoidSizeEvaluator

@Nonnull
public final MotionEvaluator1<Cartesian> getEllipsoidSizeEvaluator(@Nonnull
                                                                             Scalar sigmaFactor,
                                                                             @Nonnull
                                                                             EvaluatorGroup group)

Constructs an evaluator that calculates dimensions of the ellipsoid containing the uncertainty of a position over time. This is created from the standard deviation (or sigma) of the position variance over time, as well as the given Scalar factor of how many standard deviations of uncertainty to use.

These sigmas correspond to the OrientationAxes (get).

Parameters:

sigmaFactor - The number of standard deviations to use to determine the ellipsoid dimensions. Use GaussianStatistics.multiDimensionalStandardDeviationFactor(int, double) to determine the factor necessary for the desired confidence interval.

group - The evaluator group in which to create the evaluator.

Returns:

The sigma evaluator.