/* * This file is part of the Owl Positioning System (OwlPS). * OwlPS is a project of the University of Franche-Comte * (Université de Franche-Comté), France. * * Copyright © Université de Franche-Comté 2007-2012. * * Corresponding author: Matteo Cypriani * *********************************************************************** * * This software is governed by the CeCILL license under French law and * abiding by the rules of distribution of free software. You can use, * modify and/or redistribute the software under the terms of the CeCILL * license as circulated by CEA, CNRS and INRIA at the following URL: * http://www.cecill.info * * As a counterpart to the access to the source code and rights to copy, * modify and redistribute granted by the license, users are provided * only with a limited warranty and the software's authors, the holder * of the economic rights, and the successive licensors have only * limited liability. * * In this respect, the user's attention is drawn to the risks * associated with loading, using, modifying and/or developing or * reproducing the software by the user in light of its specific status * of free software, that may mean that it is complicated to manipulate, * and that also therefore means that it is reserved for developers and * experienced professionals having in-depth computer knowledge. Users * are therefore encouraged to load and test the software's suitability * as regards their requirements in conditions enabling the security of * their systems and/or data to be ensured and, more generally, to use * and operate it in the same conditions as regards security. * * The fact that you are presently reading this means that you have had * knowledge of the CeCILL license and that you accept its terms. * *********************************************************************** */ #include "minmax.hh" #include "accesspoint.hh" using std::tr1::unordered_map ; Point3D MinMax::trilaterate( const unordered_map &_ap_distances) { min = INFINITE ; centre = start ; ap_distances = &_ap_distances ; for (float x = start.get_x() ; x <= stop.get_x() ; x += step) for (float y = start.get_y() ; y <= stop.get_y() ; y += step) for (float z = start.get_z() ; z <= stop.get_z() ; z += step) iterate(x, y, z) ; return centre ; } Point3D MinMax::trilaterate_2d( const unordered_map &_ap_distances, float z) { min = INFINITE ; centre = start ; ap_distances = &_ap_distances ; for (float x = start.get_x() ; x <= stop.get_x() ; x += step) for (float y = start.get_y() ; y <= stop.get_y() ; y += step) iterate(x, y, z) ; return centre ; } void MinMax::iterate(float x, float y, float z) { float d_max = 0 ; for (unordered_map::const_iterator i = ap_distances->begin() ; i != ap_distances->end() ; ++i) { float dist = Point3D(x, y, z).distance_to_sphere( i->first->get_coordinates(), i->second) ; if (dist > d_max) d_max = dist ; } if (d_max <= min) { min = d_max ; centre.set_coordinates(x, y, z) ; } }