91 lines
2.1 KiB
C++
91 lines
2.1 KiB
C++
/*
|
|
* 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.
|
|
*/
|
|
|
|
|
|
#include "multilaterationalgorithm.hh"
|
|
#include "minmax.hh"
|
|
#include "mobile.hh"
|
|
#include "configuration.hh"
|
|
#include "posexcept.hh"
|
|
|
|
using namespace std ;
|
|
using std::tr1::unordered_map ;
|
|
|
|
|
|
|
|
/* *** Constructors *** */
|
|
|
|
|
|
MultilaterationAlgorithm::MultilaterationAlgorithm():
|
|
request(NULL)
|
|
{
|
|
// Will be changed when other multilateration methods will be
|
|
// implemented.
|
|
|
|
if (! Configuration::is_configured("positioning.area-start") ||
|
|
! Configuration::is_configured("positioning.area-stop"))
|
|
throw missing_configuration(
|
|
"You want to use MinMax, but either positioning.area-start or"
|
|
" positioning.area-stop is not defined!") ;
|
|
|
|
Point3D minmax_start(
|
|
Configuration::string_value("positioning.area-start")) ;
|
|
Point3D minmax_stop(
|
|
Configuration::string_value("positioning.area-stop")) ;
|
|
|
|
multilateration_method = new MinMax(minmax_start, minmax_stop) ;
|
|
}
|
|
|
|
|
|
MultilaterationAlgorithm::~MultilaterationAlgorithm()
|
|
{
|
|
delete multilateration_method ;
|
|
}
|
|
|
|
|
|
|
|
/* *** Operations *** */
|
|
|
|
|
|
double MultilaterationAlgorithm::
|
|
make_constant_term(const Measurement &measurement)
|
|
{
|
|
assert(request) ;
|
|
const Mobile *mobile = request->get_mobile() ;
|
|
assert(mobile) ;
|
|
const AccessPoint *ap = measurement.get_ap() ;
|
|
assert(ap) ;
|
|
|
|
return
|
|
ap->friis_constant_term() +
|
|
mobile->get_antenna_gain() +
|
|
mobile->get_trx_power() ;
|
|
}
|
|
|
|
|
|
Result MultilaterationAlgorithm::compute(const Request &_request)
|
|
{
|
|
request = &_request ;
|
|
|
|
compute_ap_distance_circles() ;
|
|
Point3D position(multilaterate()) ;
|
|
|
|
return Result(request, name, position) ;
|
|
}
|
|
|
|
|
|
void MultilaterationAlgorithm::compute_ap_distance_circles()
|
|
{
|
|
ap_distances.clear() ;
|
|
|
|
const unordered_map<string, Measurement> &measurements =
|
|
request->get_measurements() ;
|
|
|
|
for (unordered_map<string, Measurement>::const_iterator i =
|
|
measurements.begin() ; i != measurements.end() ; ++i)
|
|
ap_distances[i->second.get_ap()] = estimate_distance(i->second) ;
|
|
}
|