[Positioning] Compute the error if Real is used
If the pseudo-algorithm Real is used, the distance error is computed for the others algorithms.
This commit is contained in:
parent
0eef6e8577
commit
506917b5ec
|
@ -51,7 +51,11 @@ void Positioning::initialise_algorithms()
|
||||||
i != algo_names.end() ; ++i)
|
i != algo_names.end() ; ++i)
|
||||||
{
|
{
|
||||||
if (*i == "Real")
|
if (*i == "Real")
|
||||||
algorithms.push_back(new RealPosition) ;
|
/* In order to compute the errors of the other algorithms,
|
||||||
|
* Real must be the first for each request, so we add it at
|
||||||
|
* the begining.
|
||||||
|
*/
|
||||||
|
algorithms.insert(algorithms.begin(), new RealPosition) ;
|
||||||
|
|
||||||
else if (*i == "FBCM")
|
else if (*i == "FBCM")
|
||||||
{
|
{
|
||||||
|
@ -87,10 +91,23 @@ void Positioning::loop()
|
||||||
if (! request)
|
if (! request)
|
||||||
continue ;
|
continue ;
|
||||||
|
|
||||||
|
Point3D real_position ;
|
||||||
|
bool compute_error = false ;
|
||||||
ResultList results(&request) ;
|
ResultList results(&request) ;
|
||||||
for (algo = algorithms.begin() ; algo != algorithms.end() ;
|
for (algo = algorithms.begin() ; algo != algorithms.end() ;
|
||||||
++algo)
|
++algo)
|
||||||
results.add((*algo)->compute(request)) ;
|
{
|
||||||
|
Result res((*algo)->compute(request)) ;
|
||||||
|
if (compute_error)
|
||||||
|
res.compute_error(real_position) ;
|
||||||
|
else if ((*algo)->get_name() == "Real")
|
||||||
|
{
|
||||||
|
compute_error = true ;
|
||||||
|
real_position = res.get_position() ;
|
||||||
|
}
|
||||||
|
results.add(res) ;
|
||||||
|
}
|
||||||
|
|
||||||
output.write(results) ;
|
output.write(results) ;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
@ -11,7 +11,7 @@
|
||||||
class RealPosition: public PositioningAlgorithm
|
class RealPosition: public PositioningAlgorithm
|
||||||
{
|
{
|
||||||
public:
|
public:
|
||||||
RealPosition(void): PositioningAlgorithm("RealPosition") {}
|
RealPosition(void): PositioningAlgorithm("Real") {}
|
||||||
|
|
||||||
Result compute(const Request &request) ;
|
Result compute(const Request &request) ;
|
||||||
} ;
|
} ;
|
||||||
|
|
Loading…
Reference in New Issue