@Override
public double[] getLogLikelihoods(List<Beacon> beacons, State[] locations) {
List<Beacon> beaconsCleansed = Beacon.filterBeacons(beacons, minRssi, maxRssi);
beaconsCleansed = beaconFilter.setBLEBeacon(bleBeacons).filter(beaconsCleansed, locations);
BLEBeacon.setBLEBeaconIdsToMeasuredBeacons(bleBeacons, beaconsCleansed);
int[] activeBeaconList = ModelAdaptUtils.beaconsToActiveBeaconArray(beaconsCleansed);
final double[] ySub = ModelAdaptUtils.beaconsToVecSubset(beaconsCleansed);
final double[][] X = ModelAdaptUtils.locationsToMat(locations);
// Adjust bias by average bias
final double[] rssiBiases = ModelAdaptUtils.biasesToVec(locations);
double logLLs[] = null;
try {
Class<?> cls = gpLDPL.getClass();
Constructor<?> cst = cls.getConstructor(gpLDPL.getClass());
final GaussianProcessLDPLMean gpLDPLtmp = (GaussianProcessLDPLMean) cst.newInstance(gpLDPL);
gpLDPLtmp.updateByActiveBeaconList(activeBeaconList);
int n = X.length;
final double logpro[] = new double[n];
Future<?>[] futures = new Future<?>[n];
for (int i = 0; i < n; i++) {
final int idx = i;
futures[idx] =
ExecutorServiceHolder.getExecutorService()
.submit(
new Runnable() {
public void run() {
// Subtract bias from an observation vector.
double[] ySubAdjusted = ArrayUtils.addScalar(ySub, -rssiBiases[idx]);
logpro[idx] = gpLDPLtmp.logProbaygivenx(X[idx], ySubAdjusted);
}
});
}
for (int i = 0; i < n; i++) {
futures[i].get();
}
logLLs = logpro;
} catch (InstantiationException
| IllegalAccessException
| IllegalArgumentException
| InvocationTargetException
| NoSuchMethodException
| SecurityException e) {
e.printStackTrace();
} catch (InterruptedException | ExecutionException e) {
e.printStackTrace();
}
return logLLs;
}
@Override
public List<Beacon> filter(List<Beacon> beacons, State[] states) {
int n = beacons.size();
if (n < kBeacons) {
return beacons;
}
final boolean doNormalize = this.doNormalize;
final BLEBeaconConfig ibconfig = getBLEBeaconConfig();
Collections.sort(
beacons,
new Comparator<Beacon>() {
int DEC = -1;
@Override
public int compare(Beacon b1, Beacon b2) {
int major1 = b1.getMajor();
int minor1 = b1.getMinor();
double rssi1 = b1.getRssi();
int major2 = b2.getMajor();
int minor2 = b2.getMinor();
double rssi2 = b2.getRssi();
double msdPower1 = 0;
double msdPower2 = 0;
if (doNormalize) {
msdPower1 = ibconfig.getMsdPower(major1, minor1);
msdPower2 = ibconfig.getMsdPower(major2, minor2);
}
double normedRssi1 = rssi1 - msdPower1;
double normedRssi2 = rssi2 - msdPower2;
if (normedRssi1 > normedRssi2) {
return 1 * DEC;
} else if (normedRssi1 == normedRssi2) {
return 0;
} else {
return -1 * DEC;
}
}
});
int m = kBeacons < n ? kBeacons : n;
List<Beacon> beaconsTmp = beacons.subList(0, m);
final StringBuilder sb = new StringBuilder();
if (n != m) {
sb.setLength(0);
sb.append("NormedStrongestBeaconFilter #beacons " + n + ">>" + m + ". ");
sb.append("RSSI: ");
for (Beacon b : beaconsTmp) {
sb.append(b.getRssi() + ",");
}
System.out.println(sb.toString());
}
return beaconsTmp;
}
