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Corrections et ajouts mineurs 

point.hh :
* Ajout de distance(float&, float&, float&).

server.cc :
* Modification et mise à jour de radar_exp().
* Correction de l'affichage des points sélectionnés dans
  getkClosestInSs().
* Correction du FBCM et d'Interlink (utilisation des distances au lieu
  des distances au carré, et utilisation de valeurs absolues).

/!\ Reste à corriger frbhm_friis() !

git-svn-id: https://pif.pu-pm.univ-fcomte.fr/svn/loc@56 785a6c6c-259e-4ff1-8b91-dc31627914f0
This commit is contained in:
Matteo Cypriani 2008-07-15 16:06:10 +00:00
parent 7155a90a9d
commit bec6fb2549
2 changed files with 43 additions and 25 deletions
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1
GuiNuMo-server/point.hh
View File

@ -27,6 +27,7 @@ public:
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(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))); };
float distance(const float &mx, const float &my, const float &mz)const { return sqrt(((x-mx)*(x-mx))+((y-my)*(y-my))+((z-mz)*(z-mz))); };
Point operator=(const Point &p) ;
bool operator==(const Point &p) const {return ((x == p.x) && (y == p.y) && (z == p.z)) ;} ;

67
GuiNuMo-server/server.cc
View File

@ -928,7 +928,7 @@ vector<Point> Server::getkClosestInSs(const vector<Measurement> &m, const unsign
if (distances_vector.size() != points_vector.size())
cout << "Erreur ! distances_vector.size()=" << distances_vector.size() << " != points_vector.size()=" << points_vector.size() << endl ;
else
for (i = 0 ; i < distances_vector.size() - 1 ; i++)
for (i = 0 ; i < distances_vector.size() ; i++)
cout << distances_vector[i] << " : " << points_vector[i] << endl ;
#endif // DEBUG
@ -1095,8 +1095,8 @@ Point Server::fbcm(const vector<Measurement> &m, const int &client_idx)const
{
minmax_max = 0;
for (i = 0 ; i < centres.size() ; i++)
if ((centres[i].squareDistance(x, y, 3) - (dist_vect[i]*dist_vect[i])) > minmax_max)
minmax_max = centres[i].squareDistance(x, y, 3) - (dist_vect[i] * dist_vect[i]);
if (abs(centres[i].distance(x, y, 3) - dist_vect[i]) > minmax_max)
minmax_max = abs(centres[i].distance(x, y, 3) - dist_vect[i]) ;
if (minmax_max < minmax_res)
{
ret.setX(x);
@ -1220,8 +1220,8 @@ Point Server::interlink(const vector<Measurement> &m, const int &client_idx)cons
{
minmax_max = 0;
for (i = 0 ; i < centres.size() ; i++)
if ((centres[i].squareDistance(x, y, 3) - (dist_vect[i] * dist_vect[i])) > minmax_max)
minmax_max = centres[i].squareDistance(x, y, 3) - (dist_vect[i] * dist_vect[i]) ;
if (abs(centres[i].distance(x, y, 3) - dist_vect[i]) > minmax_max)
minmax_max = abs(centres[i].distance(x, y, 3) - dist_vect[i]) ;
if (minmax_max < minmax_res)
{
ret.setX(x);
@ -2400,12 +2400,19 @@ Point Server::fastViterbiLike(const unsigned int &client_id, const float_array &
void Server::radar_exp()
{
ofstream logfile;
vector<Point> solutions;
Point solution, solution_kw, ref_coords;
unsigned int i;
vector<Measurement> vm;
// computeFriisFromRefList();
computeFriisFromRefList() ;
if (client_list.empty())
{
#ifdef DEBUG
cout << "radar_exp() : création d'un client." << endl ;
#endif // DEBUG
createClient() ;
}
/* Open a log file */
logfile.open(DEFAULT_LOGFILE);
@ -2416,42 +2423,52 @@ void Server::radar_exp()
}
/* Column names */
logfile << "Coordinates\t2-kss\t(Error)\t3-kss\t(Error)\t4-kss\t(Error)\t5-kss\t(Error)\tnss\t(Error)\tInterlink\t(Error)\tFBCM\t(Error)" << endl;
logfile << "Coordinates\
\tInterlink\t(Error)\
\tRADAR\t(Error)\
\tFBCM\t(Error)\
\t2 NSS\t(Error)\
\t3 NSS\t(Error)\
\t5 NSS\t(Error)\
" << endl ;
cout << reference_point_list.size() << " reference points." << endl ;
for (i = 0 ; i < reference_point_list.size() ; i++)
{
/* Get point measurements */
vm.clear();
vm = reference_point_list[i].getMeasurementList();
ref_coords = reference_point_list[i].getCoordinates();
/* Print point coordinates */
logfile << ref_coords << "\t";
/* From 2 to 5 K-weighted-SS */
/* Interlink Networks */
solution = interlink(vm, 0) ;
logfile << solution << "\t" << solution.distance(ref_coords) << "\t" ;
/* RADAR */
solution = getkClosestInSs(vm, 1, &ref_coords)[0] ;
logfile << solution << "\t" << solution.distance(ref_coords) << "\t" ;
/* FBCM */
solution = fbcm(vm, 0) ;
logfile << solution << "\t" << solution.distance(ref_coords) << "\t" ;
/* K-weighted-SS, K = 2 */
solution = getkWeightedInSs(vm, 2, &ref_coords);
logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
/* K-weighted-SS, K = 3 */
solution = getkWeightedInSs(vm, 3, &ref_coords);
logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
solution = getkWeightedInSs(vm, 4, &ref_coords);
logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
/* K-weighted-SS, K = 5 */
solution = getkWeightedInSs(vm, 5, &ref_coords);
logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
/* Nearest in SS */
solutions = getkClosestInSs(vm, 1, &ref_coords);
logfile << solutions[0] << "\t" << solutions[0].distance(ref_coords) << "\t";
/* Interlink Networks */
solution = interlink(vm, 0);
logfile << solution << "\t" << solution.distance(ref_coords) << "\t";
/* FBCM */
solution = fbcm(vm, 0);
logfile << solution << "\t" << solution.distance(ref_coords) << endl;
solutions.clear();
logfile << endl ;
vm.clear() ;
}
logfile.close();
}