82 lines
2.8 KiB
C++
82 lines
2.8 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-Comte
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* (Université de Franche-Comté), France.
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*
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* Copyright © Université de Franche-Comté 2007-2012.
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*
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* Corresponding author: Matteo Cypriani <mcy@lm7.fr>
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*
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***********************************************************************
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*
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* This software is governed by the CeCILL license under French law and
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* abiding by the rules of distribution of free software. You can use,
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* modify and/or redistribute the software under the terms of the CeCILL
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* license as circulated by CEA, CNRS and INRIA at the following URL:
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* http://www.cecill.info
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*
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* As a counterpart to the access to the source code and rights to copy,
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* modify and redistribute granted by the license, users are provided
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* only with a limited warranty and the software's authors, the holder
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* of the economic rights, and the successive licensors have only
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* limited liability.
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*
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* In this respect, the user's attention is drawn to the risks
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* associated with loading, using, modifying and/or developing or
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* reproducing the software by the user in light of its specific status
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* of free software, that may mean that it is complicated to manipulate,
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* and that also therefore means that it is reserved for developers and
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* experienced professionals having in-depth computer knowledge. Users
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* are therefore encouraged to load and test the software's suitability
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* as regards their requirements in conditions enabling the security of
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* their systems and/or data to be ensured and, more generally, to use
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* and operate it in the same conditions as regards security.
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*
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* The fact that you are presently reading this means that you have had
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* knowledge of the CeCILL license and that you accept its terms.
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*
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***********************************************************************
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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::tr1::unordered_map<AccessPoint*, float> const *ap_distances ;
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void iterate(float x, float y, 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 const float MINMAX_DEFAULT_STEP = 0.5 ;
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static const 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::tr1::unordered_map<AccessPoint*, float> &_ap_distances) ;
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Point3D trilaterate_2d(
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const std::tr1::unordered_map<AccessPoint*, float> &_ap_distances,
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float z) ;
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} ;
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#endif // _OWLPS_POSITIONING_MINMAX_HH_
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