#include "multilaterationalgorithm.hh"
#include "minmax.hh"

using namespace std ;
using std::tr1::unordered_map ;



/* *** Constructors *** */


MultilaterationAlgorithm::MultilaterationAlgorithm():
  request(NULL)
{
  // Will be changed when other multilateration methods will be
  // implemented
  multilateration_method = new MinMax(Point3D(-0.5, -0.5, 0),
                                      Point3D(10, 31.5, 6)) ;
  // FIXME: minmax start and stop
}


MultilaterationAlgorithm::~MultilaterationAlgorithm()
{
  delete multilateration_method ;
}



/* *** Operations *** */


Result MultilaterationAlgorithm::compute(const Request &_request)
{
  request = &_request ;

  compute_ap_distance_circles() ;
  Point3D position(multilaterate()) ;

  return Result(request, position) ;
}


void MultilaterationAlgorithm::compute_ap_distance_circles()
{
  ap_distances.clear() ;

  const unordered_map<string, Measurement> &measurements =
    request->get_measurements() ;

  for (unordered_map<string, Measurement>::const_iterator i =
         measurements.begin() ; i != measurements.end() ; ++i)
    ap_distances[i->second.get_ap()] = estimate_distance(i->second) ;
}