Package group3dlocaliser.localisation

Class LinearLocalisation

java.lang.Object

PamDetection.AbstractLocalisation

group3dlocaliser.localisation.LinearLocalisation

All Implemented Interfaces:

LocalisationChi2

public class LinearLocalisation
extends AbstractLocalisation
implements LocalisationChi2

Constructor Summary

Constructors

Constructor	Description
LinearLocalisation(PamDataUnit pamDataUnit, int referenceHydrophones, PamVector[] arrayAxes, double bearing, Double range)

Method Summary

Modifier and Type	Method	Description
Double	getAic()
double[]	getAngles()
Double	getChi2()
Integer	getNDF()
GpsData	getOriginLatLong()
double	getRange(int iSide)	Get the range for a specific side (where ambiguity exists)
GpsData	getReferencePosition()
void	setReferencePosition(GpsData referencePosition)

Methods inherited from class PamDetection.AbstractLocalisation

addLocContents, bearingAmbiguity, getAmbiguityCount, getAngleErrors, getArrayOrientationVectors, getBearing, getBearing, getBearingError, getBearingReference, getDepth, getErrorDirection, getHeight, getHeightError, getLatLong, getLocContents, getLocError, getNumLatLong, getParallelError, getParentDetection, getPerpendiculaError, getPlanarAngles, getPlanarVector, getRangeError, getRealWorldVectors, getReferenceHydrophones, getSubArrayType, getTimeDelayChIndex, getTimeDelayErrors, getTimeDelays, getWorldVectors, hasLocContent, removeLocContents, setArrayAxis, setLocContents, setParentDetection, setReferenceHydrophones, setSubArrayType, toString

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

LinearLocalisation

public LinearLocalisation(PamDataUnit pamDataUnit,
 int referenceHydrophones,
 PamVector[] arrayAxes,
 double bearing,
 Double range)

Method Details

getAngles

public double[] getAngles()

Overrides:

getAngles in class AbstractLocalisation

Returns:

Angles to detection in radians. The number of angles will be 0, 1 or 2.

***************** CHANGES FROM AUGUST 2017 *******************
Now oriented the 'globe' differently, so that the first angle can be between -Pi and +Pi or between 0 and 2Pi. The second angle is the elevation angle which is either up (+ve angles) or down (-ve angles) having a range of -Pi/2 to +Pi/2. This change will only affect data from volumetric arrays when the animal is at significant depth. Changes are being made to data from click and whistle detectors which used the older system to maintain compatibility.

For a point array, null should be returned.

For a line array a single angle is returned which is the angle relative to the first orientation vector with 0 being in line with the orientation vector (can be thought of as colatitude).

For a planar or volumetric array, two angles should be returned, the first being the colongitude, the second being the latitude. Imagine a globe, with North vertical and 0 longitude pointing along the main axis of the array geometry.

getRange

public double getRange(int iSide)

Description copied from class: AbstractLocalisation

Get the range for a specific side (where ambiguity exists)

Overrides:

getRange in class AbstractLocalisation

Returns:

range

getChi2

public Double getChi2()

Specified by:

getChi2 in interface LocalisationChi2

Returns:

A Chi2 value for the localisation

getNDF

public Integer getNDF()

Specified by:

getNDF in interface LocalisationChi2

Returns:

The number of degrees of freedom in the model used

getAic

public Double getAic()

Specified by:

getAic in interface LocalisationChi2

Returns:

the AIC.

getOriginLatLong

public GpsData getOriginLatLong()

Overrides:

getOriginLatLong in class AbstractLocalisation

Returns:

the latlong of the centre of the hydrophones associated with the channels used in this detection. If no channels are set, then it returns the GPS location for the time of the detection.

getReferencePosition

public GpsData getReferencePosition()

Returns:

the referencePosition

setReferencePosition

public void setReferencePosition(GpsData referencePosition)

Parameters:

referencePosition - the referencePosition to set