/*
 * This file is part of the Owl Positioning System (OwlPS).
 * OwlPS is a project of the University of Franche-Comté
 * (Université de Franche-Comté), France.
 */


#ifndef _OWLPS_POSITIONING_MINMAX_HH_
#define _OWLPS_POSITIONING_MINMAX_HH_

#include "multilaterationmethod.hh"

/// Multilaterates using the Lassabe's MinMax algorithm
class MinMax: public MultilaterationMethod
{
private:
  float min ;
  Point3D centre ;
  std::tr1::unordered_map<AccessPoint*, float> const *ap_distances ;

  void iterate(float x, float y, float z) ;

protected:
  const Point3D start ;
  const Point3D stop ;
  float step ;

  static const float MINMAX_DEFAULT_STEP = 0.5 ;
  static const float INFINITE = 1000000 ;

public:
  MinMax(const Point3D &_start,
         const Point3D &_stop,
         const float _step = MINMAX_DEFAULT_STEP):
    min(INFINITE),
    start(_start), stop(_stop), step(_step) {}

  ~MinMax(void) {}

  Point3D multilaterate(
    const std::tr1::unordered_map<AccessPoint*, float> &_ap_distances) ;
  Point3D multilaterate_2d(
    const std::tr1::unordered_map<AccessPoint*, float> &_ap_distances,
    float z) ;
} ;

#endif // _OWLPS_POSITIONING_MINMAX_HH_