/*
 * This file is part of the Owl Positioning System (OwlPS) project.
 * It is subject to the copyright notice and license terms in the
 * COPYRIGHT.t2t file found in the top-level directory of this
 * distribution and at
 *   https://code.lm7.fr/mcy/owlps/src/master/COPYRIGHT.t2t
 * No part of the OwlPS Project, including this file, may be copied,
 * modified, propagated, or distributed except according to the terms
 * contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
 * distributed along with this file, either separately or by replacing
 * this notice by the COPYRIGHT.t2t file's contents.
 */


#ifndef _OWLPS_POSITIONING_TRILATERATIONMETHOD_HH_
#define _OWLPS_POSITIONING_TRILATERATIONMETHOD_HH_

class CapturePoint ;

#include "point3d.hh"

#include <unordered_map>

/// Super-class of all trilateration methods
/**
 * The source data is a list of capture points associated with the
 * distances to the mobile. These distances are estimated using a
 * TrilaterationAlgorithm.
 */
class TrilaterationMethod
{
public:
  TrilaterationMethod(void) {}
  virtual ~TrilaterationMethod(void) {}

  /// Selects a point in 3D space
  virtual Point3D trilaterate(
    const std::unordered_map<const CapturePoint*, float> &cp_distances) = 0 ;

  /// Selects a point in 2D space, given its vertical coordinate (z)
  virtual Point3D trilaterate_2d(
    const std::unordered_map<const CapturePoint*, float> &cp_distances,
    const float z) = 0 ;
} ;

#endif // _OWLPS_POSITIONING_TRILATERATIONMETHOD_HH_