125 lines
3.7 KiB
C++
125 lines
3.7 KiB
C++
/*
|
|
* This file is part of the Owl Positioning System (OwlPS).
|
|
* OwlPS is a project of the University of Franche-Comte
|
|
* (Université de Franche-Comté), France.
|
|
*
|
|
* Copyright © Université de Franche-Comté 2007-2012.
|
|
*
|
|
* Corresponding author: Matteo Cypriani <mcy@lm7.fr>
|
|
*
|
|
***********************************************************************
|
|
*
|
|
* This software is governed by the CeCILL license under French law and
|
|
* abiding by the rules of distribution of free software. You can use,
|
|
* modify and/or redistribute the software under the terms of the CeCILL
|
|
* license as circulated by CEA, CNRS and INRIA at the following URL:
|
|
* http://www.cecill.info
|
|
*
|
|
* As a counterpart to the access to the source code and rights to copy,
|
|
* modify and redistribute granted by the license, users are provided
|
|
* only with a limited warranty and the software's authors, the holder
|
|
* of the economic rights, and the successive licensors have only
|
|
* limited liability.
|
|
*
|
|
* In this respect, the user's attention is drawn to the risks
|
|
* associated with loading, using, modifying and/or developing or
|
|
* reproducing the software by the user in light of its specific status
|
|
* of free software, that may mean that it is complicated to manipulate,
|
|
* and that also therefore means that it is reserved for developers and
|
|
* experienced professionals having in-depth computer knowledge. Users
|
|
* are therefore encouraged to load and test the software's suitability
|
|
* as regards their requirements in conditions enabling the security of
|
|
* their systems and/or data to be ensured and, more generally, to use
|
|
* and operate it in the same conditions as regards security.
|
|
*
|
|
* The fact that you are presently reading this means that you have had
|
|
* knowledge of the CeCILL license and that you accept its terms.
|
|
*
|
|
***********************************************************************
|
|
*/
|
|
|
|
|
|
#include "trilaterationalgorithm.hh"
|
|
#include "minmax.hh"
|
|
#include "mobile.hh"
|
|
#include "configuration.hh"
|
|
#include "posexcept.hh"
|
|
|
|
using namespace std ;
|
|
using std::tr1::unordered_map ;
|
|
|
|
|
|
|
|
/* *** Constructors *** */
|
|
|
|
|
|
TrilaterationAlgorithm::TrilaterationAlgorithm():
|
|
request(NULL)
|
|
{
|
|
// Will be changed when other trilateration 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")) ;
|
|
|
|
trilateration_method = new MinMax(minmax_start, minmax_stop) ;
|
|
}
|
|
|
|
|
|
TrilaterationAlgorithm::~TrilaterationAlgorithm()
|
|
{
|
|
delete trilateration_method ;
|
|
}
|
|
|
|
|
|
|
|
/* *** Operations *** */
|
|
|
|
|
|
double TrilaterationAlgorithm::
|
|
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 TrilaterationAlgorithm::compute(const Request &_request)
|
|
{
|
|
request = &_request ;
|
|
|
|
compute_ap_distance_circles() ;
|
|
Point3D position(trilaterate()) ;
|
|
|
|
return Result(request, name, position) ;
|
|
}
|
|
|
|
|
|
void TrilaterationAlgorithm::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) ;
|
|
}
|