#ifndef _OWLPS_POSITIONING_MULTILATERATIONALGORITHM_HH_
#define _OWLPS_POSITIONING_MULTILATERATIONALGORITHM_HH_

#include "positioningalgorithm.hh"
#include "multilaterationmethod.hh"

/// Super-class of multilateration-based positioning algorithms
class MultilaterationAlgorithm: public virtual PositioningAlgorithm
{
protected:
  const Request *request ;

  std::tr1::unordered_map<AccessPoint*, float> ap_distances ;
  MultilaterationMethod *multilateration_method ;

  /** @name Operations */
  //@{
  double make_constant_term(const Measurement &measurement) ;
  void compute_ap_distance_circles() ;
  Point3D multilaterate() ;
  Point3D multilaterate_2d(float z) ;
  //@}

public:
  MultilaterationAlgorithm(void) ;

  virtual ~MultilaterationAlgorithm(void) ;

  /** @name Operations */
  //@{
  Result compute(const Request &_request) ;
  virtual float estimate_distance(const Measurement &measurement) = 0 ;
  //@}
} ;



inline Point3D MultilaterationAlgorithm::multilaterate()
{
  return multilateration_method->multilaterate(ap_distances) ;
}


inline Point3D MultilaterationAlgorithm::multilaterate_2d(float z)
{
  return multilateration_method->multilaterate_2d(ap_distances, z) ;
}



#endif // _OWLPS_POSITIONING_MULTILATERATIONALGORITHM_HH_