/*
 * 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_TRILATERATIONALGORITHM_HH_
#define _OWLPS_POSITIONING_TRILATERATIONALGORITHM_HH_

#include "positioningalgorithm.hh"
#include "trilaterationmethod.hh"

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

  std::tr1::unordered_map<AccessPoint*, float> ap_distances ;
  TrilaterationMethod *trilateration_method ;

  /** @name Operations */
  //@{
  double make_constant_term(const Measurement &measurement) ;
  void compute_ap_distance_circles() ;
  Point3D trilaterate() ;
  Point3D trilaterate_2d(float z) ;
  //@}

public:
  TrilaterationAlgorithm(void) ;

  virtual ~TrilaterationAlgorithm(void) ;

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



inline Point3D TrilaterationAlgorithm::trilaterate()
{
  return trilateration_method->trilaterate(ap_distances) ;
}


inline Point3D TrilaterationAlgorithm::trilaterate_2d(float z)
{
  return trilateration_method->trilaterate_2d(ap_distances, z) ;
}



#endif // _OWLPS_POSITIONING_TRILATERATIONALGORITHM_HH_