55 lines
1.6 KiB
C++
55 lines
1.6 KiB
C++
/*
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* This file is part of the Owl Positioning System (OwlPS) project.
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* It is subject to the copyright notice and license terms in the
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* COPYRIGHT.t2t file found in the top-level directory of this
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* distribution and at
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* https://code.lm7.fr/mcy/owlps/src/master/COPYRIGHT.t2t
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* No part of the OwlPS Project, including this file, may be copied,
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* modified, propagated, or distributed except according to the terms
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* contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
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* distributed along with this file, either separately or by replacing
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* this notice by the COPYRIGHT.t2t file's contents.
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*/
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#ifndef _OWLPS_POSITIONING_MINMAX_HH_
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#define _OWLPS_POSITIONING_MINMAX_HH_
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#include "trilaterationmethod.hh"
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/// Multilaterates using the Lassabe's MinMax algorithm
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class MinMax: public TrilaterationMethod
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{
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private:
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float min ;
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Point3D centre ;
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std::unordered_map<const CapturePoint*, float> const *cp_distances ;
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void iterate(const float x, const float y, const float z) ;
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protected:
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const Point3D start ;
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const Point3D stop ;
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float step ;
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static constexpr float MINMAX_DEFAULT_STEP = 0.5 ;
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static constexpr float INFINITE = 1000000 ;
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public:
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MinMax(const Point3D &_start,
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const Point3D &_stop,
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const float _step = MINMAX_DEFAULT_STEP):
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min(INFINITE),
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start(_start), stop(_stop), step(_step) {}
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~MinMax(void) {}
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Point3D trilaterate(
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const std::unordered_map<const CapturePoint*, float> &_cp_distances) ;
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Point3D trilaterate_2d(
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const std::unordered_map<const CapturePoint*, float> &_cp_distances,
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float z) ;
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} ;
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#endif // _OWLPS_POSITIONING_MINMAX_HH_
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