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[Positioner] Fix Autocalibration::sort_reference_aps() 

Fix the angle calculation in sort_reference_aps() and better comment the
code.
This commit is contained in:
Matteo Cypriani 2012-05-02 15:52:56 +02:00
parent c51d9c1c12
commit efba4fa09b
1 changed files with 16 additions and 6 deletions
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22
owlps-positioner/src/autocalibration.cc
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@ -115,29 +115,39 @@ void Autocalibration::sort_reference_aps()
if (ref == rx) if (ref == rx)
continue ; continue ;
// Skip the AP if it is not at the same floor than the /* Skip the AP if it is not at the same floor than the
// receiver AP: * receiver AP */
const Point3D &ref_coord = ref->second.get_coordinates() ; const Point3D &ref_coord = ref->second.get_coordinates() ;
if (ref_coord.get_z() != rx_coord.get_z()) if (ref_coord.get_z() != rx_coord.get_z())
continue ; continue ;
// Skip the AP if it is not in coverage with the receiver AP: /* Skip the AP if it is not in coverage with the receiver AP */
float coverage = float coverage =
rx->second.received_calibration_from_ap(ref->second) ; rx->second.received_calibration_from_ap(ref->second) ;
if (coverage < 1) // Less than 1% coverage is ridiculous! if (coverage < 1) // Less than 1% coverage is ridiculous!
continue ; continue ;
Point3D ref_coord_r(ref_coord) ; /* Angle P-RX-REF */
ref_coord_r.rotate_2d(rx_coord, angle_p) ; double angle = rx_coord.angle_2d(point, ref_coord) ;
double angle = rx_coord.angle_2d(point, ref_coord_r) ; /* Weight in the APs' list according to coverage and angle */
double weight = angle / coverage ; double weight = angle / coverage ;
/* Note: this weight is used only to sort the APs, it has nothing
to do with the angle weight (see weight_aps()) used to compute
the SSs. */
/* Create the list entry */
pair<double, pair<double,
unordered_map<string, AccessPoint>::const_iterator> unordered_map<string, AccessPoint>::const_iterator>
angle_ap(angle, ref) ; angle_ap(angle, ref) ;
pair<double, pair<double, pair<double, pair<double,
unordered_map<string, AccessPoint>::const_iterator> > unordered_map<string, AccessPoint>::const_iterator> >
weight_angle_ap(weight, angle_ap) ; weight_angle_ap(weight, angle_ap) ;
/* Rotate the AP's coordinates to know the angle direction */
Point3D ref_coord_r(ref_coord) ;
ref_coord_r.rotate_2d(rx_coord, angle_p) ;
// Insert the AP in the right list, according to the direction:
if (ref_coord_r.get_y() < rx_coord.get_y()) if (ref_coord_r.get_y() < rx_coord.get_y())
sorted_negative_angles.insert(weight_angle_ap) ; sorted_negative_angles.insert(weight_angle_ap) ;
else else