66 lines
1.8 KiB
C++
66 lines
1.8 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_TRILATERATIONALGORITHM_HH_
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#define _OWLPS_POSITIONING_TRILATERATIONALGORITHM_HH_
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#include "positioningalgorithm.hh"
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#include "trilaterationmethod.hh"
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/// Super-class of trilateration-based positioning algorithms
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class TrilaterationAlgorithm: public virtual PositioningAlgorithm
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{
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protected:
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const Request *request ;
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std::unordered_map<const CapturePoint*, float> cp_distances ;
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TrilaterationMethod *trilateration_method ;
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/** @name Operations */
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//@{
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double make_constant_term(const Measurement &measurement) ;
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void compute_cp_distance_circles(void) ;
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Point3D trilaterate(void) ;
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Point3D trilaterate_2d(const float z) ;
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//@}
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public:
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TrilaterationAlgorithm(void) ;
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virtual ~TrilaterationAlgorithm(void) ;
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/** @name Operations */
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//@{
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Result compute(const Request &_request) ;
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virtual float estimate_distance(const Measurement &measurement) = 0 ;
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//@}
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} ;
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inline Point3D TrilaterationAlgorithm::trilaterate()
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{
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return trilateration_method->trilaterate(cp_distances) ;
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}
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inline Point3D TrilaterationAlgorithm::trilaterate_2d(const float z)
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{
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return trilateration_method->trilaterate_2d(cp_distances, z) ;
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}
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#endif // _OWLPS_POSITIONING_TRILATERATIONALGORITHM_HH_
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