For RADAR, the default is now to compare the current positioning request
to each stored CalibrationRequest instead of each ReferencePoint
(averaging the calibration requests associated with the reference
point).
The new option --positioning.radar-average-reference-points allows to
activate the old behaviour (compare to reference points).
Note: the bug fixed in the previous commit caused the creation of
a ReferencePoint for each CalibrationRequest, implying the 'new'
default behaviour (one ReferencePoint was associated to only one
CalibrationRequest, so comparing each ReferencePoint or each
CalibrationRequest was giving the same result). Anyway, there was
(hopefully) no such bug in OwlPS v0.8, so it is actually the old
behaviour :-)
For each calibration request read, a new ReferencePoint was created in
Stock. This is because of the behaviour of unordered_set: as pertaining
to unordered_set, two elements are not considered equal if the hashes
alone are identical, they must also be actually equal (operator==).
The problem was fixed by using a custom equality check function that
checks the equality only on the coordinates of the ReferencePoint (as if
it was a Point3D).
ReferencePoint::complete_with_dummy_measurements(
map<string, Measurement>,
map<string, Measurement>)
becomes PosUtil::complete_with_dummy_measurements(
unordered_map<string, Measurement>,
unordered_map<string, Measurement>)
ReferencePoint::compute_ss_square_distance(
map<string, Measurement>,
map<string, Measurement>)
becomes PosUtil::ss_square_distance(
unordered_map<string, Measurement>,
unordered_map<string, Measurement>)
map<string, Measurement> ReferencePoint::get_all_measurements_sorted()
is now private, returns an unordered_map instead of a map, and is
renamed ReferencePoint::get_all_measurements().
Note that we now use unordered_maps for these functions. The use of
sorted lists (maps) was useless, as stated in the commit message of
e9eab687 (Wed Jun 2 12:37:43 2010 +0200).
If the real coordinates are passed to the constructor, the distance
error is computed. One can also use Result::compute_error() on a
constructed object.
The start and stop coordinates for the MinMax multilateration method
used to be hard-coded. One should now provide the good coordinates using
the new options positioning.minmax-start and positioning.minmax-stop.
Matteo Cypriani
Florian Taillard