59 lines
1.4 KiB
C++
59 lines
1.4 KiB
C++
/*
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* This file is part of the Owl Positioning System (OwlPS).
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* OwlPS is a project of the University of Franche-Comté
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* (Université de Franche-Comté), France.
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*/
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#ifndef _OWLPS_POSITIONING_MULTILATERATIONALGORITHM_HH_
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#define _OWLPS_POSITIONING_MULTILATERATIONALGORITHM_HH_
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#include "positioningalgorithm.hh"
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#include "multilaterationmethod.hh"
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/// Super-class of multilateration-based positioning algorithms
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class MultilaterationAlgorithm: public virtual PositioningAlgorithm
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{
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protected:
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const Request *request ;
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std::tr1::unordered_map<AccessPoint*, float> ap_distances ;
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MultilaterationMethod *multilateration_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_ap_distance_circles() ;
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Point3D multilaterate() ;
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Point3D multilaterate_2d(float z) ;
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//@}
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public:
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MultilaterationAlgorithm(void) ;
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virtual ~MultilaterationAlgorithm(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 MultilaterationAlgorithm::multilaterate()
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{
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return multilateration_method->multilaterate(ap_distances) ;
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}
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inline Point3D MultilaterationAlgorithm::multilaterate_2d(float z)
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{
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return multilateration_method->multilaterate_2d(ap_distances, z) ;
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}
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#endif // _OWLPS_POSITIONING_MULTILATERATIONALGORITHM_HH_
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