diff --git a/GuiNuMo-server/Makefile b/GuiNuMo-server/Makefile
index 5a9635a..99a7751 100644
--- a/GuiNuMo-server/Makefile
+++ b/GuiNuMo-server/Makefile
@@ -1,7 +1,7 @@
 GXX=g++
 GXXFLAGS=-Wall -O2
 LD=g++
-LDFLAGS= -lm -O2
+LDFLAGS=-Wall -lm -O2
 
 all: test
 
diff --git a/GuiNuMo-server/accesspoint.cc b/GuiNuMo-server/accesspoint.cc
index 7667928..2eb3f3a 100644
--- a/GuiNuMo-server/accesspoint.cc
+++ b/GuiNuMo-server/accesspoint.cc
@@ -1,7 +1,7 @@
 #include "accesspoint.hh"
 
 
-AccessPoint::AccessPoint(string addr, float fidx, Point coords, unsigned int f, float antg, float outp)
+AccessPoint::AccessPoint(const string &addr, const float &fidx, const Point &coords, const unsigned int &f, const float &antg, const float &outp)
 {
   coordinates = coords;
   ap_addr = addr;
@@ -46,7 +46,7 @@ AccessPoint AccessPoint::operator=(const AccessPoint &ap)
   return *this;
 }
 
-ostream &operator<<(ostream & os, AccessPoint & ap)
+ostream &operator<<(ostream &os, const AccessPoint &ap)
 {
   os << "MAC Address: " << ap.ap_addr << endl;
   os << "Coordinates: " << ap.coordinates << endl;
diff --git a/GuiNuMo-server/accesspoint.hh b/GuiNuMo-server/accesspoint.hh
index 60f30c1..d92116b 100644
--- a/GuiNuMo-server/accesspoint.hh
+++ b/GuiNuMo-server/accesspoint.hh
@@ -25,7 +25,7 @@ protected:
   float output_power;
 	
 public:
-  AccessPoint(string addr = AP_DEFAULT_ADDR, float fidx = AP_DEFAULT_FRIIS_INDEX, Point coords = Point(), unsigned int f = AP_DEFAULT_FREQ, float antg = AP_DEFAULT_ANTENNA_GAIN, float outp = AP_DEFAULT_OUTPUT_POWER);
+  AccessPoint(const string &addr = AP_DEFAULT_ADDR, const float &fidx = AP_DEFAULT_FRIIS_INDEX, const Point &coords = Point(), const unsigned int &f = AP_DEFAULT_FREQ, const float &antg = AP_DEFAULT_ANTENNA_GAIN, const float &outp = AP_DEFAULT_OUTPUT_POWER);
   AccessPoint(const AccessPoint &ap);
   ~AccessPoint() {};
   string getApAddr()const { return ap_addr; };
@@ -34,17 +34,17 @@ public:
   float getAntennaGain()const { return antenna_gain; };
   unsigned int getFrequency()const { return freq; };
   float getOutputPower()const { return output_power; };
-  void setApAddr(string addr) { ap_addr = addr; };
-  void setFriisIndex(float fidx) { friis_index = fidx; };
-  void setCoordinates(Point apc) { coordinates = apc; };
-  void setCoordinates(float x, float y, float z) { Point apc(x, y, z); coordinates = apc; };
-  void setFrequency(unsigned int f) { freq = f; };
-  void setAntennaGain(float antg) { antenna_gain = antg; };
-  void setOutputPower(float outp) {output_power = outp; };
+  void setApAddr(const string &addr) { ap_addr = addr; };
+  void setFriisIndex(const float &fidx) { friis_index = fidx; };
+  void setCoordinates(const Point &apc) { coordinates = apc; };
+  void setCoordinates(const float &x, const float &y, const float &z) { Point apc(x, y, z); coordinates = apc; };
+  void setFrequency(const unsigned int &f) { freq = f; };
+  void setAntennaGain(const float &antg) { antenna_gain = antg; };
+  void setOutputPower(const float &outp) {output_power = outp; };
   bool operator==(const AccessPoint &ap)const;
   bool operator!=(const AccessPoint &ap)const;
   AccessPoint operator=(const AccessPoint &ap);
-  friend ostream &operator<<(ostream & os, AccessPoint & ap);
+  friend ostream &operator<<(ostream &os, const AccessPoint &ap);
 };
 
 #endif
diff --git a/GuiNuMo-server/cfg/minipc.cfg b/GuiNuMo-server/cfg/minipc.cfg
new file mode 100644
index 0000000..b82973f
--- /dev/null
+++ b/GuiNuMo-server/cfg/minipc.cfg
@@ -0,0 +1,19 @@
+# Fichier de configuration pour les AP.
+# Chaque ligne est de la forme :
+#   MAC;X;Y;Z;Fréquence d'émission (Hz);Gain d'antenne (dBi);Puissance d'émission (dBm)
+# Les lignes vides ou commençant par un # sont ignorées. Les commentaires doivent obligatoirement être en début de ligne.
+
+# mini5 (Laseldi)
+00:13:CE:95:E1:6F;4.93;25.81;3.00;2417000000;5.0;20.0
+
+# mini6 (Laurent / Wassim Haimed)
+00:13:CE:95:DE:7E;4.83;10.88;3.71;2417000000;5.0;20.0
+
+# mini4 (Incubateur)
+00:13:CE:97:78:79;20.05;28.31;3.74;2417000000;5.0;20.0
+
+# mini3 (Dominique)
+00:13:CE:8F:77:43;7.085;4.13;0.74;2417000000;5.0;20.0
+
+# mini1 (Adrien)
+00:13:CE:8F:78:D9;30.35;5.74;0.98;2417000000;5.0;20.0
diff --git a/GuiNuMo-server/clientinfo.cc b/GuiNuMo-server/clientinfo.cc
index 6f4be6a..ff294e0 100644
--- a/GuiNuMo-server/clientinfo.cc
+++ b/GuiNuMo-server/clientinfo.cc
@@ -1,19 +1,31 @@
 #include "clientinfo.hh"
 
 
-ClientInfo::ClientInfo(string ip, int port, float antg)
+ClientInfo::ClientInfo(const string &ip, const int &port, const float &antg)
 {
   client_ip = ip;
   antenna_gain = antg;
   client_listen_port = port;
 
-  for(int i=0 ; i < 5 ; i++)
-    viterbi_distances[i] = 0;
+  int N = VITERBI_N, K = VITERBI_K ;
+  viterbi_V = new float*[N-1] ;
+  for (int n=0 ; n < N-1 ; n++)
+    {
+      viterbi_V[n] = new float[K] ;
+      for (int k=0 ; k < K ; k++)
+	viterbi_V[n][k] = 0 ;
+    }
+
 }
 
 ClientInfo::~ClientInfo()
 {
-  viterbi_vector1.clear();
-  viterbi_vector2.clear();
+  viterbi_Eprevious.clear();
+  viterbi_Ecurrent.clear();
+
+  int N = VITERBI_N ;
+  for(int n=0; n < N-1 ; n++)
+    delete[] viterbi_V[n] ;
+  delete viterbi_V ;
 }
 
diff --git a/GuiNuMo-server/clientinfo.hh b/GuiNuMo-server/clientinfo.hh
index 4374a92..4e55a24 100644
--- a/GuiNuMo-server/clientinfo.hh
+++ b/GuiNuMo-server/clientinfo.hh
@@ -13,20 +13,27 @@ using std::string;
 #define CLIENT_DEFAULT_IP "127.0.0.1"
 #define CLIENT_DEFAULT_ANTENNA_GAIN 2 // Good default value
 
+#define VITERBI_N 5
+#define VITERBI_K 8
+
 class ClientInfo
 {
 protected:
   string client_ip;
   float antenna_gain;
   int client_listen_port;
-  vector<Point> viterbi_vector1; // Previous vector
-  vector<Point> viterbi_vector2; // Last vector
-  float viterbi_distances[5];
-		
+  vector<Point> viterbi_Ecurrent; // Last vector
+  vector<Point> viterbi_Eprevious; // Previous vector
+  //  float viterbi_distances[5];
+  float **viterbi_V ;
+
 public:
-  ClientInfo(string ip = CLIENT_DEFAULT_IP, int port = CLIENT_DEFAULT_PORT, float antg = CLIENT_DEFAULT_ANTENNA_GAIN);
+  ClientInfo(const string &ip = CLIENT_DEFAULT_IP, const int &port = CLIENT_DEFAULT_PORT, const float &antg = CLIENT_DEFAULT_ANTENNA_GAIN);
   ~ClientInfo();
   float getAntennaGain()const { return antenna_gain; };
+  vector<Point>& getRef_viterbi_Ecurrent() { return viterbi_Ecurrent; } ;
+  vector<Point>& getRef_viterbi_Eprevious() { return viterbi_Eprevious; } ;
+  float** get_viterbi_V() { return viterbi_V; } ;
 };
 
 #endif
diff --git a/GuiNuMo-server/measurement.cc b/GuiNuMo-server/measurement.cc
index a37ec26..b6a59b6 100644
--- a/GuiNuMo-server/measurement.cc
+++ b/GuiNuMo-server/measurement.cc
@@ -1,6 +1,6 @@
 #include "measurement.hh"
 
-void Measurement::addSsValue(int ssv)
+void Measurement::addSsValue(const int &ssv)
 {
   float ss_mwatts = pow(10, (float) ssv / 10.0) + (ss_list.size() * pow(10, average_ss / 10.0));
 	
@@ -8,12 +8,12 @@ void Measurement::addSsValue(int ssv)
   average_ss = 10 * log10(ss_mwatts / ss_list.size());
 }
 
-float Measurement::getSsSquareDistance(float ss)const
+float Measurement::getSsSquareDistance(const float &ss)const
 {
   return ((ss - average_ss) * (ss - average_ss));
 }
 
-ostream &operator<<(ostream &os, Measurement &m)
+ostream &operator<<(ostream &os, const Measurement &m)
 {
   unsigned int i;
 	
diff --git a/GuiNuMo-server/measurement.hh b/GuiNuMo-server/measurement.hh
index 7518598..0fe50e6 100644
--- a/GuiNuMo-server/measurement.hh
+++ b/GuiNuMo-server/measurement.hh
@@ -17,16 +17,16 @@ protected:
   vector<int> ss_list;
 	
 public:
-  Measurement(string ma = "ff:ff:ff:ff:ff:ff", float avg = 0, vector<int> ssl = vector<int>()) { mac_addr = ma; average_ss = avg, ss_list = ssl; };
+  Measurement(const string &ma = "ff:ff:ff:ff:ff:ff", const float &avg = 0, const vector<int> &ssl = vector<int>()) { mac_addr = ma; average_ss = avg, ss_list = ssl; };
   Measurement(const Measurement &m) { mac_addr = m.mac_addr; average_ss = m.average_ss; ss_list = m.ss_list; };
   ~Measurement() { ss_list.clear(); };
   vector<int> getSsList()const { return ss_list; };
   float getAverage()const { return average_ss; };
   string getMacAddr()const { return mac_addr; };
-  void addSsValue(int ssv);
-  void setMacAddr(string ma) { mac_addr = ma; };
-  float getSsSquareDistance(float ss)const;
-  friend ostream &operator<<(ostream &os, Measurement &m);
+  void addSsValue(const int &ssv);
+  void setMacAddr(const string &ma) { mac_addr = ma; };
+  float getSsSquareDistance(const float &ss)const;
+  friend ostream &operator<<(ostream &os, const Measurement &m);
 };
 
 #endif
diff --git a/GuiNuMo-server/point.hh b/GuiNuMo-server/point.hh
index 2e6921c..6e33b0e 100644
--- a/GuiNuMo-server/point.hh
+++ b/GuiNuMo-server/point.hh
@@ -14,17 +14,17 @@ protected:
   float z;
 	
 public:
-  Point(float _x = 0, float _y = 0, float _z = 0) { x = _x; y = _y; z = _z; } ;
+  Point(const float &_x = 0, const float &_y = 0, const float &_z = 0) { x = _x; y = _y; z = _z; } ;
   Point(const Point &p) { x = p.x; y = p.y; z = p.z; } ;
   ~Point() {};
   float getX()const { return x; };
   float getY()const { return y; };
   float getZ()const { return z; };
-  void setX(float my_x) { x = my_x; };
-  void setY(float my_y) { y = my_y; };
-  void setZ(float my_z) { z = my_z; };
+  void setX(const float &_x) { x = _x; };
+  void setY(const float &_y) { y = _y; };
+  void setZ(const float &_z) { z = _z; };
   float squareDistance(const Point &p)const { return ((x-p.x)*(x-p.x))+((y-p.y)*(y-p.y))+((z-p.z)*(z-p.z)); };
-  float squareDistance(float mx, float my, float mz)const { return ((x-mx)*(x-mx))+((y-my)*(y-my))+((z-mz)*(z-mz)); };
+  float squareDistance(const float &mx, const float &my, const float &mz)const { return ((x-mx)*(x-mx))+((y-my)*(y-my))+((z-mz)*(z-mz)); };
   float distance(const Point &p)const { return sqrt(((x-p.x)*(x-p.x))+((y-p.y)*(y-p.y))+((z-p.z)*(z-p.z))); };
   Point operator=(const Point &p);
   bool operator==(const Point &p)const;
diff --git a/GuiNuMo-server/referencepoint.cc b/GuiNuMo-server/referencepoint.cc
index 0a56c24..8ad87d5 100644
--- a/GuiNuMo-server/referencepoint.cc
+++ b/GuiNuMo-server/referencepoint.cc
@@ -1,12 +1,12 @@
 #include "referencepoint.hh"
 
-float ReferencePoint::getSsSquareDistance(vector<Measurement> m)const
+float ReferencePoint::getSsSquareDistance(const vector<Measurement> &m)const
 {
   unsigned int i, j;
   float ret = 0;
   bool found;
 	
-  for(i=0;i<m.size();i++)
+  for (i = 0 ; i < m.size() ; i++)
     {
       j = 0;
       found = false;
@@ -20,16 +20,17 @@ float ReferencePoint::getSsSquareDistance(vector<Measurement> m)const
 	  j++;
 	}
     }
+
   return ret;
 }
 
-void ReferencePoint::addMeasurement(string mac_a, int value)
+void ReferencePoint::addMeasurement(const string &mac_a, const int &value)
 {
   unsigned int i;
   Measurement m;
   bool inserted = false;
 	
-  for(i=0;i<measurement_list.size();i++)
+  for (i = 0 ; i < measurement_list.size() ; i++)
     if(measurement_list[i].getMacAddr() == mac_a)
       {
 	measurement_list[i].addSsValue(value);
@@ -62,17 +63,17 @@ ostream &operator<<(ostream &os, ReferencePoint &rp)
   if(rp.measurement_list.size() == 0)
     os << "No measurements" << endl;
   else
-    for(i=0;i<rp.measurement_list.size();i++)
+    for (i = 0 ; i < rp.measurement_list.size() ; i++)
       os << rp.measurement_list[i] << endl;
 	
   return os;
 }
 
-bool ReferencePoint::getPowerForAp(string ap_mac, float * p)const
+bool ReferencePoint::getPowerForAp(const string &ap_mac, float *p)const
 {
   unsigned int i;
 
-  for(i=0;i<measurement_list.size();i++)
+  for (i = 0 ; i < measurement_list.size() ; i++)
     if(measurement_list[i].getMacAddr() == ap_mac)
       {
 	*p = measurement_list[i].getAverage();
diff --git a/GuiNuMo-server/referencepoint.hh b/GuiNuMo-server/referencepoint.hh
index 2bb09be..3f55207 100644
--- a/GuiNuMo-server/referencepoint.hh
+++ b/GuiNuMo-server/referencepoint.hh
@@ -15,18 +15,18 @@ protected:
   vector<Measurement> measurement_list;
 	
 public:
-  ReferencePoint(float x = 0, float y = 0, float z = 0) { coordinates.setX(x); coordinates.setY(y); coordinates.setZ(z); };
+  ReferencePoint(const float &x = 0, const float &y = 0, const float &z = 0) { coordinates.setX(x); coordinates.setY(y); coordinates.setZ(z); };
   ReferencePoint(const ReferencePoint &rp) { coordinates = rp.coordinates; measurement_list = rp.measurement_list; };
-  ReferencePoint(Point c) { coordinates = c; };
+  ReferencePoint(const Point &c) { coordinates = c; };
   ~ReferencePoint() { measurement_list.clear(); };
-  float getSsSquareDistance(vector<Measurement> m)const;
+  float getSsSquareDistance(const vector<Measurement> &m)const;
   Point getCoordinates()const { return coordinates; };
-  void addMeasurement(string mac_a, int value);
-  void setCoordinates(Point p) { coordinates = p; };
+  void addMeasurement(const string &mac_a, const int &value);
+  void setCoordinates(const Point &p) { coordinates = p; };
   ReferencePoint operator=(const ReferencePoint &rp);
   friend ostream &operator<<(ostream &os, ReferencePoint &rp);
   vector<Measurement> getMeasurementList()const { return measurement_list; };
-  bool getPowerForAp(string ap_mac, float * p)const;
+  bool getPowerForAp(const string &ap_mac, float *p)const;
 };
 
 #endif
diff --git a/GuiNuMo-server/server.cc b/GuiNuMo-server/server.cc
index db3b09d..6b6f02e 100644
--- a/GuiNuMo-server/server.cc
+++ b/GuiNuMo-server/server.cc
@@ -1,9 +1,18 @@
 #include "server.hh"
 
-/* Misc. very usefull functions */
+#define TEST
+#define DEBUG // Décommenter pour avoir de l'affichage en plus.
+//#define DEBUG_2 // Décommenter pour avoir encore plus d'affichage.
+
+
+
+
+/******* Misc. very usefull functions *******/
+
+
 
 /* Explodes a string into substrings based on separator sep. Returns a string vector. */
-inline vector<string> explode(string input, char sep)
+inline vector<string> explode(const string &input, const char &sep)
 {
   vector<string> vs;
   string tmp;
@@ -27,8 +36,10 @@ inline vector<string> explode(string input, char sep)
   return vs;
 }
 
+
+
 /* Function to convert a string to an integer */
-inline int string2int(string nb)
+inline int string2int(const string &nb)
 {
   istringstream iss(nb);
 
@@ -37,8 +48,10 @@ inline int string2int(string nb)
   return tmp;
 }
 
+
+
 /* Function to convert a string to an unsigned integer */
-inline unsigned int string2uint(string nb)
+inline unsigned int string2uint(const string &nb)
 {
   istringstream iss(nb);
 
@@ -47,8 +60,10 @@ inline unsigned int string2uint(string nb)
   return tmp;
 }
 
+
+
 /* Function to convert a string to a float */
-inline float string2float(string nb)
+inline float string2float(const string &nb)
 {
   istringstream iss(nb);
 
@@ -57,6 +72,8 @@ inline float string2float(string nb)
   return tmp;
 }
 
+
+
 /* Function extracts ints from string */
 inline vector<int> extractValues(string buff)
 {
@@ -81,7 +98,9 @@ inline vector<int> extractValues(string buff)
   return ret;
 }
 
-inline vector<string> extractReferencePointInfoFromBuffer(string buffer_in)
+
+
+inline vector<string> extractReferencePointInfoFromBuffer(const string &buffer_in)
 {
   unsigned int i = 0;
   string tmp_field;
@@ -96,7 +115,7 @@ inline vector<string> extractReferencePointInfoFromBuffer(string buffer_in)
     }
   ret.push_back(tmp_field);
   tmp_field.clear();
-  i++; //go after the ';'
+  i++; // go after the ';'
 
   /* y */
   while (buffer_in[i] != ';')
@@ -108,6 +127,18 @@ inline vector<string> extractReferencePointInfoFromBuffer(string buffer_in)
   tmp_field.clear();
   i++;
 
+#ifndef FRED_CSV_FORMAT // Dans le format Fred, on n'a pas de coordonnée Z.
+  /* z */
+  while (buffer_in[i] != ';')
+    {
+      tmp_field.push_back(buffer_in[i]);
+      i++;
+    }
+  ret.push_back(tmp_field);
+  tmp_field.clear();
+  i++;
+#endif
+
   /* Extract direction (not used now) */
   while (buffer_in[i] != ';')
     {
@@ -118,6 +149,7 @@ inline vector<string> extractReferencePointInfoFromBuffer(string buffer_in)
   tmp_field.clear();
   i++;
 
+#ifdef FRED_CSV_FORMAT
   /* Extract mac address */
   while (buffer_in[i] != ';')
     {
@@ -136,15 +168,36 @@ inline vector<string> extractReferencePointInfoFromBuffer(string buffer_in)
     }
   ret.push_back(tmp_field);
   tmp_field.clear();
+#else
+  while (i <= buffer_in.size())
+    {
+      if ((buffer_in[i] == ';' || i == buffer_in.size()) && !tmp_field.empty()) // Si on est sur un séparateur et que la valeur lue n'est pas vide,
+	{
+#ifdef DEBUG_2
+	  cout << "Ajout de la valeur lue : " << tmp_field << endl ;
+#endif
+	  ret.push_back(tmp_field) ; // on met la valeur lue dans les valeurs de retour.
+	  tmp_field.clear() ;
+	}
+      else // Si on n'est pas sur un séparateur,
+	tmp_field.push_back(buffer_in[i]) ; // on ajoute le caractère courant à la suite de la valeur lue.
+
+      i++ ;
+    }
+#endif
 
   /* Return the vector with each data */
   return ret;
 }
+
+
+
 /* ***************************************************************** */
 
 
+
 //Server::Server(string ip_addr, int listen_port, int send_port) // FIXME : paramètre send_port inutilisé
-Server::Server(string ip_addr, int listen_port)
+Server::Server(const string &ip_addr, const int &listen_port)
 {
   /* Open socket */
   sockListen = socket(PF_INET, SOCK_DGRAM, 0);
@@ -158,8 +211,13 @@ Server::Server(string ip_addr, int listen_port)
 
   /* Bind */
   bind(sockListen, (struct sockaddr *)&server_addr, sizeof(server_addr));
+
+  makeReferencePointListFromFile(DEFAULT_REF_POINT_FILE);
+  makeApListFromFile(DEFAULT_AP_FILE);
 }
 
+
+
 Server::~Server()
 {
   client_list.clear();
@@ -169,18 +227,24 @@ Server::~Server()
   close(sockSend);
 }
 
-void Server::send_to_client(int cl)
+
+
+void Server::send_to_client(const int &cl)
 {
   /* Do not forget to implement later: usefull for a demo */
 }
 
+
+
 int Server::receive_data()
 {
   /* Do not forget to implement later: usefull for a demo */
   return 0;
 }
 
-bool Server::pointExists(float x, float y, float z)const
+
+
+bool Server::pointExists(const float &x, const float &y, const float &z)const
 {
   Point p(x, y, z);
   unsigned int i;
@@ -192,8 +256,10 @@ bool Server::pointExists(float x, float y, float z)const
   return false;
 }
 
+
+
 /* Do not forget to call pointExists() before this one */
-unsigned int Server::pointIndex(float x, float y, float z)const
+unsigned int Server::pointIndex(const float &x, const float &y, const float &z)const
 {
   Point p(x, y, z);
   unsigned int i;
@@ -205,7 +271,9 @@ unsigned int Server::pointIndex(float x, float y, float z)const
   return 0; // Should never happen
 }
 
-bool Server::pointExists(Point p)const
+
+
+bool Server::pointExists(const Point &p)const
 {
   unsigned int i;
 
@@ -216,7 +284,9 @@ bool Server::pointExists(Point p)const
   return false;
 }
 
-bool Server::apExists(string ap_addr)const
+
+
+bool Server::apExists(const string &ap_addr)const
 {
   unsigned int i;
 
@@ -227,7 +297,9 @@ bool Server::apExists(string ap_addr)const
   return false;
 }
 
-unsigned int Server::apIndex(string ap_addr)const
+
+
+unsigned int Server::apIndex(const string &ap_addr)const
 {
   unsigned int i;
 
@@ -238,8 +310,10 @@ unsigned int Server::apIndex(string ap_addr)const
   return 0; // Should never happen
 }
 
+
+
 /* Do not forget to call pointExists() before this one */
-unsigned int Server::pointIndex(Point p)const
+unsigned int Server::pointIndex(const Point &p)const
 {
   unsigned int i;
 
@@ -250,8 +324,23 @@ unsigned int Server::pointIndex(Point p)const
   return 0; // Should never happen
 }
 
-/* return -1 if point does not exist, which should never happen */
-vector<Point> Server::getkClosestInSs(vector<Measurement> m, unsigned int k, bool ignore_point, Point point_ignored)const
+
+
+/* Selects the "k" closest points from the measurement "m", in the SS space.
+ * Returns an empty vector if no points are found, which should never happen.
+ */
+vector<Point> Server::getkClosestInSs(const vector<Measurement> &m, const unsigned int &k)const
+{
+  return getkClosestInSs(m, k, NULL) ;
+}
+
+
+
+/* Selects the "k" closest points from the measurement "m", in the SS space.
+ * If "point_ignored" is not NULL, the Point "*point_ignored" is ignored.
+ * Returns an empty vector if no points are found, which should never happen.
+ */
+vector<Point> Server::getkClosestInSs(const vector<Measurement> &m, const unsigned int &k, const Point *point_ignored)const
 {
   unsigned int i, j, min_idx;
   vector<float> distances_vector;
@@ -260,7 +349,7 @@ vector<Point> Server::getkClosestInSs(vector<Measurement> m, unsigned int k, boo
   float tmp_distance = 0, dist_max = 10000000, tmp_min;
 
   for (i = 0 ; i < reference_point_list.size() ; i++)
-    if (!ignore_point||(reference_point_list[i].getCoordinates() != point_ignored))
+    if (point_ignored == NULL || (reference_point_list[i].getCoordinates() != *point_ignored))
       {
 	tmp_distance = reference_point_list[i].getSsSquareDistance(m);
 	/* if not k points, add it */
@@ -268,7 +357,7 @@ vector<Point> Server::getkClosestInSs(vector<Measurement> m, unsigned int k, boo
 	  {
 	    distances_vector.push_back(tmp_distance);
 	    points_vector.push_back(reference_point_list[i].getCoordinates());
-	    dist_max = (dist_max > tmp_distance)?tmp_distance:dist_max;
+	    dist_max = (dist_max > tmp_distance) ? tmp_distance : dist_max;
 	  }
 	else
 	  {
@@ -319,7 +408,18 @@ vector<Point> Server::getkClosestInSs(vector<Measurement> m, unsigned int k, boo
   return points_vector;
 }
 
-Point Server::getkWeightedInSs(vector<Measurement> m, unsigned int k, bool ignore_point, Point point_ignored)const
+
+
+Point Server::getkWeightedInSs(const vector<Measurement> &m, const unsigned int &k)const
+{
+  return getkWeightedInSs(m, k, NULL) ;
+}
+
+
+
+/* If "point_ignored" is not NULL, the Point "*point_ignored" is ignored.
+ */
+Point Server::getkWeightedInSs(const vector<Measurement> &m, const unsigned int &k, const Point *point_ignored)const
 {
   unsigned int i, j;
   vector<float> distances_vector;
@@ -329,7 +429,7 @@ Point Server::getkWeightedInSs(vector<Measurement> m, unsigned int k, bool ignor
   float total = 0, x = 0, y = 0, z = 0;
 
   for (i = 0 ; i < reference_point_list.size() ; i++)
-    if (!ignore_point || (reference_point_list[i].getCoordinates() != point_ignored))
+    if (point_ignored == NULL || (reference_point_list[i].getCoordinates() != *point_ignored))
       {
 	tmp_distance = reference_point_list[i].getSsSquareDistance(m);
 	/* if not k points, add it */
@@ -376,7 +476,9 @@ Point Server::getkWeightedInSs(vector<Measurement> m, unsigned int k, bool ignor
   return ret;
 }
 
-Point Server::kPointsAverage(vector<Point> vp)const
+
+
+Point Server::kPointsAverage(const vector<Point> &vp)const
 {
   unsigned int i;
   float x=0, y=0, z=0;
@@ -395,7 +497,9 @@ Point Server::kPointsAverage(vector<Point> vp)const
   return p;
 }
 
-Point Server::fbcm(vector<Measurement> m, int client_idx)const
+
+
+Point Server::fbcm(const vector<Measurement> &m, const int &client_idx)const
 {
   Point ret(0, 0, 0);
   vector<string> addr;
@@ -449,7 +553,9 @@ Point Server::fbcm(vector<Measurement> m, int client_idx)const
   return ret;
 }
 
-Point Server::interlink(vector<Measurement> m, int client_idx)const
+
+
+Point Server::interlink(const vector<Measurement> &m, const int &client_idx)const
 {
   Point ret(0, 0, 0);
   vector<string> addr;
@@ -498,58 +604,116 @@ Point Server::interlink(vector<Measurement> m, int client_idx)const
   return ret;
 }
 
-void Server::makeReferencePointListFromFile(string filename)
+
+
+void Server::makeReferencePointListFromFile(const string &filename)
 {
   ifstream input_file;
   char buffer[BUFFER_LENGTH];
   string lecture_fichier;
   ReferencePoint rp;
   Point tmp_point;
-  float x, y;
+  float x, y, z ; // Coordonnées des points
   unsigned int i, pt_idx;
   string cpp_buffer, tmp_mes;
-  vector<int> measures_vector;
   vector<string> infos;
 
   input_file.open(filename.c_str()) ;
+
   if (input_file.fail())
     {
       cerr << "Error opening input file « " << filename << " » !" << endl ;
       return ;
     }
 
+#ifdef DEBUG
+  cout << "Lecture du fichier « " << filename << " »..." ;
+  int nlines = 0 ;
+  int npoints = 0 ;
+#endif
+
   while (!input_file.eof())
     {
+#ifdef DEBUG
+      if (nlines % 100 == 0)
+	printf("\n%5d", nlines) ;
+      cout << '.' ;
+      nlines++ ;
+#endif
+
       input_file.getline(buffer, BUFFER_LENGTH);
+
       if ((input_file.rdstate() & ifstream::eofbit) == 0)
 	{
 	  /* Extract fields */
 	  cpp_buffer = buffer;
+	  if (cpp_buffer.size() == 0) // Ignorer une ligne vide
+	    continue ;
 	  infos = extractReferencePointInfoFromBuffer(cpp_buffer);
 	  x = string2float(infos[0]);
 	  y = string2float(infos[1]);
+#ifdef FRED_CSV_FORMAT
+	  z = DEFAULT_Z ;
+#else
+	  z = string2float(infos[2]) ;
+#endif
+
 	  /* Set point coordinates */
 	  tmp_point.setX(x);
 	  tmp_point.setY(y);
-	  tmp_point.setZ(DEFAULT_Z);
+	  tmp_point.setZ(z);
+
 	  /* Use C++ string format */
 	  if (!pointExists(tmp_point))
 	    {
 	      rp.setCoordinates(tmp_point);
 	      reference_point_list.push_back(rp);
+#ifdef DEBUG_2
+	      npoints++ ;
+	      cout << tmp_point << " : ajouté." << endl ;
+	    }
+	  else
+	    {
+	      cout << tmp_point << " : existe déjà." << endl ;
+#endif
 	    }
 	  pt_idx = pointIndex(tmp_point);
-	  measures_vector = extractValues(infos[4]);
+
+#ifdef FRED_CSV_FORMAT
+	  vector<int> measures_vector = extractValues(infos[4]) ;
 	  for (i = 0 ; i < measures_vector.size() ; i++)
 	    reference_point_list[pt_idx].addMeasurement(infos[3], measures_vector[i]);
+	  measures_vector.clear();
+#else
+	  for (i = 4 ; i < infos.size() ; i++)
+	    {
+#ifdef DEBUG_2
+	      cout << "Lecture de la valeur : " << infos[i] << "... " ;
+#endif
+	      if (i + 1 < infos.size())
+		{
+		  reference_point_list[pt_idx].addMeasurement(infos[i], string2int(infos[i+1])) ;
+#ifdef DEBUG_2
+		  cout << "Mesure ajoutée : AP = " << infos[i] << " | SS = " << string2int(infos[i+1]) << endl ;
+#endif
+		  i++ ;
+		}
+	    }
+#endif
 	}
     }
 
+#ifdef DEBUG
+  cout << '\n' << nlines << " lignes lues, " << npoints << " points différents ajoutés.\n" << endl ;
+#endif
+
   input_file.close();
-  measures_vector.clear();
+  infos.clear() ;
 }
 
-void Server::makeApListFromFile(string filename)
+
+
+void Server::makeApListFromFile(const string &filename)
 {
   ifstream input_file;
   char buffer[BUFFER_LENGTH];
@@ -563,15 +727,25 @@ void Server::makeApListFromFile(string filename)
       return ;
     }
 
+#ifdef DEBUG
+  cout << "Lecture du fichier « " << filename << " »..." << endl ;
+#endif
+
   while (!input_file.eof())
     {
       input_file.getline(buffer, BUFFER_LENGTH);
+
       if ((input_file.rdstate() & ifstream::eofbit) == 0)
 	{
+	  /* Traitement basique des commentaires */
+	  if (buffer[0] == '\0' // Ligne vide
+	      || buffer[0] == '#') // ou ligne commençant par #
+	    continue ; // ignorer cette ligne.
+
 	  ap_infos = explode(buffer, ';');
-	  cout << buffer << endl;
-	  for (unsigned int i=0 ; i < ap_infos.size() ; i++)
-	    cout << ap_infos[i] << endl;
+#ifdef DEBUG
+	  cout << "AP : " <<  buffer ;
+#endif
 	  tmp_ap.setApAddr(ap_infos[0]);
 	  tmp_ap.setCoordinates(string2float(ap_infos[1]), string2float(ap_infos[2]), string2float(ap_infos[3]));
 	  tmp_ap.setFrequency(string2uint(ap_infos[4]));
@@ -579,12 +753,22 @@ void Server::makeApListFromFile(string filename)
 	  tmp_ap.setOutputPower(string2float(ap_infos[6]));
 	  access_point_list.push_back(tmp_ap);
 	  ap_infos.clear();
+#ifdef DEBUG
+	  cout << " ajouté." << endl ;
+#endif
 	}
     }
 
+#ifdef DEBUG
+  cout << endl ;
+#endif
+
+
   input_file.close();
 }
 
+
+
 void Server::printReferencePointList()
 {
   unsigned int i;
@@ -593,6 +777,8 @@ void Server::printReferencePointList()
     cout << reference_point_list[i] << endl;
 }
 
+
+
 void Server::printAccessPointList()
 {
   unsigned int i;
@@ -601,6 +787,8 @@ void Server::printAccessPointList()
     cout << access_point_list[i] << endl;
 }
 
+
+
 void Server::computeFriisFromRefList()
 {
   unsigned int i, j;
@@ -641,47 +829,118 @@ void Server::computeFriisFromRefList()
 }
 
 
+
 /*
- *  Function computes new cumulative distances for each running viterbi instance,
+ *  Computes new cumulative distances for each running viterbi instance,
  *  Returns the solution (type: Point) of the last ended viterbi.
  *  Distances are grouped by line corresponding to an instance.
- *  vk MUST be the same as last.size() and current.size() !
+ *  "K" MUST be the same as last.size() and current.size() !
  */
-/*
-Point Server::viterbiLike(float ** dists, unsigned short vk, unsigned short vn, vector<Point> last, vector<Point> current)
+void Server::fastViterbiLike(const unsigned short &N, const unsigned short &K, const unsigned int &id_client)
 {
-  unsigned int i, j, k;
-  float min;
-  vector<float> last_dists;
-  Point position;
-  
-  // Compute the ending viterbi: line 0
-  for (i = 0 ; i < current.size() ; i++)
+#ifdef TEST
+  ClientInfo cl ;
+  float **V = cl.get_viterbi_V() ;
+  vector<Point>
+    &E_current = cl.getRef_viterbi_Ecurrent(),
+    &E_previous = cl.getRef_viterbi_Eprevious() ;
+#else
+  float **V = client_list[id_client].get_viterbi_V() ;
+  vector<Point>
+    &E_current = client_list[id_client].getRef_viterbi_Ecurrent(),
+    &E_previous = client_list[id_client].getRef_viterbi_Eprevious() ;
+#endif
+
+  int i = 1 ; // Nombre d'ensembles d'historique qu'on a déjà passés
+
+  if (N < 2)
     {
-      min = dists[0][0] + last[0].distance(current[i]);
-      for (j = 1 ; j < last.size() ; j++)
-	if ((dists[0][j] + last[j].distance(current[i])) < min)
-	  min = dists[0][j] + last[j].distance(current[i]);
-      last_dists.push_back(min);
+      cerr << "fastViterbiLike() : N ne peut être inférieur à 2 !" << endl ;
+      return ;
     }
 
-  // Find shortest dist
-  min = last_dists[0];
-  j = 0;
-  for (i = 1 ; i < last_dists.size() ; i++)
-    if (last_dists[i] < min)
-      {
-	min = last_dists[i];
-	j = i;
-      }
+#ifdef TEST
+  int pt = 0 ;
+#ifdef DEBUG
+  cout << reference_point_list.size() << " points à traiter." << endl ;
+#endif
+  while (pt < reference_point_list.size())
+#else
+  while (true)
+#endif
+    {
+      vector<Measurement> vm ;
+      Point *ref_coords = NULL ; // Coordonnées de référence (à ignorer).
 
-  // Shortest distance determines the true point
-  position = current[j];
+#ifdef TEST
+      /* Get point measurements */
+      vm.clear();
+      vm = reference_point_list[pt].getMeasurementList();
+      //      *ref_coords = reference_point_list[i].getCoordinates();
+#endif
 
-  // Now, compute the remaining of the distance matrix
+      E_previous = E_current ;
+      E_current = getkClosestInSs(vm, K, ref_coords) ; // Création de l'ensemble des K points les plus proches dans l'espace des puissances.
 
+      if (i > 1) // Si on n'est plus à la première itération
+	{
+	  /* Recalcul des plus courtes distances */
+	  for (int n = N-1-i ; n < N-2 ; n++) // Pour chaque historique existant (sauf le dernier),
+	    for (int k = 0 ; k < K ; k++) // pour chaque point de l'historique,
+	      { // on met à jour le chemin minimum entre l'historique précédent et le point :
+		V[n][k] = V[n+1][0] + E_previous[0].distance(E_current[k]) ;
+		for (int l = 1 ; l < K ; l++)
+		  {
+		    float f = V[n+1][l] + E_previous[l].distance(E_current[k]) ;
+		    if (f < V[n][k])
+		      V[n][k] = f ;
+		  }
+	      }
+
+	  /* Traitement du dernier historique */
+	  for (int k = 0 ; k < K ; k++) // Pour chaque point,
+	    { // on récupère le chemin minimum entre l'historique précédent et le point :
+	      V[N-2][k] = E_previous[0].distance(E_current[k]) ;
+	      for (int l = 1 ; l < K ; l++)
+		{
+		  float f = E_previous[l].distance(E_current[k]) ;
+		  if (f < V[N-2][k])
+		    V[N-2][k] = f ;
+		}
+	    }
+
+	  /* Choix du min à renvoyer */
+	  if (N-1-i == 0)
+	    {
+	      float V0_min = V[0][0] ;
+	      for (int k=1 ; k < K ; k++)
+		{
+		  if (V[0][k] < V0_min)
+		    V0_min = V[0][k] ;
+		  cout << "V[0][" << k << "]=" << V[0][k] << " ; V0_min=" << V0_min << " -- " ;
+		}
+	      cout << "V0_min = " << V0_min << endl ;
+	    }
+	}
+
+      //      cout << "(N=" << N << ") - 1 - (i=" << i << ") = " << N-1-i << endl ;
+      for (int n=0 ; n < N-1 ; n++)
+	{
+	  for (int k=0 ; k < K ; k++)
+	    cout << "[" << V[n][k] << "]" ;
+	  cout << endl ;
+	}
+      cout << "\n--------------------------" << endl ;
+
+      if (i < N-1)
+	i++ ;
+
+#ifdef TEST
+      pt++ ;
+#endif
+    }
 }
-*/
+
 
 
 /* For experimentation purpose only */
@@ -693,9 +952,7 @@ void Server::radar_exp()
   unsigned int i;
   vector<Measurement> vm;
 
-  makeReferencePointListFromFile(DEFAULT_REF_POINT_FILE);
-  makeApListFromFile(DEFAULT_AP_FILE);
-  computeFriisFromRefList();
+  //  computeFriisFromRefList();
 
   /* Open a log file */
   logfile.open(DEFAULT_LOGFILE);
@@ -720,17 +977,17 @@ void Server::radar_exp()
       logfile << ref_coords << "\t";
 
       /* From 2 to 5 K-weighted-SS */
-      solution = getkWeightedInSs(vm, 2, true, ref_coords);
+      solution = getkWeightedInSs(vm, 2, &ref_coords);
       logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
-      solution = getkWeightedInSs(vm, 3, true, ref_coords);
+      solution = getkWeightedInSs(vm, 3, &ref_coords);
       logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
-      solution = getkWeightedInSs(vm, 4, true, ref_coords);
+      solution = getkWeightedInSs(vm, 4, &ref_coords);
       logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
-      solution = getkWeightedInSs(vm, 5, true, ref_coords);
+      solution = getkWeightedInSs(vm, 5, &ref_coords);
       logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
 
       /* Nearest in SS */
-      solutions = getkClosestInSs(vm, 1, true, ref_coords);
+      solutions = getkClosestInSs(vm, 1, &ref_coords);
       logfile << solutions[0] << "\t" << solutions[0].distance(ref_coords) << "\t";
 
       /* Interlink Networks */
diff --git a/GuiNuMo-server/server.hh b/GuiNuMo-server/server.hh
index fa7f36d..ee30e3a 100644
--- a/GuiNuMo-server/server.hh
+++ b/GuiNuMo-server/server.hh
@@ -22,9 +22,10 @@
 using namespace std;
 using std::string;
 
-#define DEFAULT_LOGFILE "log/radar_exp.csv"
-#define DEFAULT_REF_POINT_FILE "csv/complete-scan.csv"
-#define DEFAULT_AP_FILE "cfg/accesspoints.cfg"
+#define DEFAULT_LOGFILE "log/radar_exp.csv" // Fichier de sortie
+#define DEFAULT_REF_POINT_FILE "csv/agreg/toutes.csv" // Fichier des points de référence
+#define DEFAULT_AP_FILE "cfg/minipc.cfg" // Fichier de configuration des AP
+#define DEFAULT_TRACKING_FILE "csv/agreg/divagation.csv" // Fichier de prérégrination
 #define DEFAULT_IP "127.0.0.1"
 #define DEFAULT_LISTEN_PORT 7777
 #define LIGHT_SPEED 300000000
@@ -33,9 +34,10 @@ using std::string;
 #define MINMAX_Y_START -1
 #define MINMAX_X_STOP 15
 #define MINMAX_Y_STOP 45
-#define BUFFER_LENGTH 1024
-#define DEFAULT_Z 3
-#define DEFAULT_VITERBI_K 5
+#define BUFFER_LENGTH 5000
+//#define DEFAULT_Z 3 // Décommenter pour utiliser des fichiers d'entrée avec des coordonnées dans un seul plan (X, Y).
+//#define FRED_CSV_FORMAT // Décommenter pour utiliser les fichiers CSV au « format Fred » (plusieurs lignes par mesure, avec un AP par ligne).
+
 
 class Server
 {
@@ -48,32 +50,33 @@ protected:
   int sockSend;
 
 public:
-  //Server(string ip_addr = DEFAULT_IP, int listen_port = DEFAULT_LISTEN_PORT, int send_port);
-  Server(string ip_addr = DEFAULT_IP, int listen_port = DEFAULT_LISTEN_PORT);
+  Server(const string &ip_addr = DEFAULT_IP, const int &listen_port = DEFAULT_LISTEN_PORT);
   ~Server();
-  void send_to_client(int cl);
+  void send_to_client(const int &cl);
   int receive_data();
-  bool pointExists(float x, float y, float z)const;
-  unsigned int pointIndex(float x, float y, float z)const;
-  bool pointExists(Point p)const;
-  bool apExists(string ap_addr)const;
-  unsigned int apIndex(string ap_addr)const;
-  unsigned int pointIndex(Point p)const;
-  vector<Point> getkClosestInSs(vector<Measurement> m, unsigned int k, bool ignore_point, Point point_ignored)const;
-  Point getkWeightedInSs(vector<Measurement> m, unsigned int k, bool ignore_point, Point point_ignored)const;
-  Point kPointsAverage(vector<Point> vp)const;
-  Point fbcm(vector<Measurement> m, int client_idx)const;
-  Point interlink(vector<Measurement> m, int client_idx)const;
-  void makeReferencePointListFromFile(string filename);
-  void makeApListFromFile(string filename);
+  bool pointExists(const float &x, const float &y, const float &z)const;
+  unsigned int pointIndex(const float &x, const float &y, const float &z)const;
+  bool pointExists(const Point &p)const;
+  bool apExists(const string &ap_addr)const;
+  unsigned int apIndex(const string &ap_addr)const;
+  unsigned int pointIndex(const Point &p)const;
+  vector<Point> getkClosestInSs(const vector<Measurement> &m, const unsigned int &k)const ;
+  vector<Point> getkClosestInSs(const vector<Measurement> &m, const unsigned int &k, const Point *point_ignored)const ;
+  Point getkWeightedInSs(const vector<Measurement> &m, const unsigned int &k)const ;
+  Point getkWeightedInSs(const vector<Measurement> &m, const unsigned int &k, const Point *point_ignored)const ;
+  Point kPointsAverage(const vector<Point> &vp)const;
+  Point fbcm(const vector<Measurement> &m, const int &client_idx)const;
+  Point interlink(const vector<Measurement> &m, const int &client_idx)const;
+  void makeReferencePointListFromFile(const string &filename);
+  void makeApListFromFile(const string &filename);
   void printReferencePointList();
   void printAccessPointList();
   void computeFriisFromRefList();
   unsigned int getNbReferencePoints()const { return reference_point_list.size(); };
   /* For experimentation purpose only ! */
   void radar_exp();
-  /* For compilation purpose :-) */
-  //  Point viterbiLike(float**, short unsigned int, short unsigned int, std::vector<Point, std::allocator<Point> >, std::vector<Point, std::allocator<Point> >) ;
+
+  void fastViterbiLike(const unsigned short &N, const unsigned short &K, const unsigned int &id_client) ;
 };
 
 #endif
diff --git a/GuiNuMo-server/test.cc b/GuiNuMo-server/test.cc
index 67ba27e..4b3011b 100644
--- a/GuiNuMo-server/test.cc
+++ b/GuiNuMo-server/test.cc
@@ -11,7 +11,6 @@
 using namespace std;
 using std::string;
 
-#define BUFFER_LENGTH 1024
 
 int main(int argc, char ** argv)
 {
@@ -19,7 +18,8 @@ int main(int argc, char ** argv)
   string read_file;
   Server my_server;
 
-  my_server.radar_exp();
+  //  my_server.radar_exp();
+  my_server.fastViterbiLike(VITERBI_N, VITERBI_K, 0) ;
 
   return 0;
 }