93 lines
3.0 KiB
C++
93 lines
3.0 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.
|
|
*
|
|
***********************************************************************
|
|
*/
|
|
|
|
|
|
#ifndef _OWLPS_POSITIONING_TRILATERATIONALGORITHM_HH_
|
|
#define _OWLPS_POSITIONING_TRILATERATIONALGORITHM_HH_
|
|
|
|
#include "positioningalgorithm.hh"
|
|
#include "trilaterationmethod.hh"
|
|
|
|
/// Super-class of trilateration-based positioning algorithms
|
|
class TrilaterationAlgorithm: public virtual PositioningAlgorithm
|
|
{
|
|
protected:
|
|
const Request *request ;
|
|
|
|
std::tr1::unordered_map<AccessPoint*, float> ap_distances ;
|
|
TrilaterationMethod *trilateration_method ;
|
|
|
|
/** @name Operations */
|
|
//@{
|
|
double make_constant_term(const Measurement &measurement) ;
|
|
void compute_ap_distance_circles() ;
|
|
Point3D trilaterate() ;
|
|
Point3D trilaterate_2d(float z) ;
|
|
//@}
|
|
|
|
public:
|
|
TrilaterationAlgorithm(void) ;
|
|
|
|
virtual ~TrilaterationAlgorithm(void) ;
|
|
|
|
/** @name Operations */
|
|
//@{
|
|
Result compute(const Request &_request) ;
|
|
virtual float estimate_distance(const Measurement &measurement) = 0 ;
|
|
//@}
|
|
} ;
|
|
|
|
|
|
|
|
inline Point3D TrilaterationAlgorithm::trilaterate()
|
|
{
|
|
return trilateration_method->trilaterate(ap_distances) ;
|
|
}
|
|
|
|
|
|
inline Point3D TrilaterationAlgorithm::trilaterate_2d(float z)
|
|
{
|
|
return trilateration_method->trilaterate_2d(ap_distances, z) ;
|
|
}
|
|
|
|
|
|
|
|
#endif // _OWLPS_POSITIONING_TRILATERATIONALGORITHM_HH_
|