85 lines
2.7 KiB
C++
85 lines
2.7 KiB
C++
/*
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* This file is part of the Owl Positioning System (OwlPS) project.
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* It is subject to the copyright notice and license terms in the
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* COPYRIGHT.t2t file found in the top-level directory of this
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* distribution and at
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* https://code.lm7.fr/mcy/owlps/src/master/COPYRIGHT.t2t
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* No part of the OwlPS Project, including this file, may be copied,
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* modified, propagated, or distributed except according to the terms
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* contained in the COPYRIGHT.t2t file; the COPYRIGHT.t2t file must be
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* distributed along with this file, either separately or by replacing
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* this notice by the COPYRIGHT.t2t file's contents.
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*/
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#ifndef _OWLPS_POSITIONING_AUTOCALIBRATIONMESH_HH_
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#define _OWLPS_POSITIONING_AUTOCALIBRATIONMESH_HH_
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class CapturePoint ;
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class Point3D ;
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#include "autocalibration.hh"
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#include <vector>
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#include <unordered_map>
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/// Generates reference points in a mesh
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class AutocalibrationMesh: public Autocalibration
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{
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protected:
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struct cp
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{
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const CapturePoint *cp ;
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float weight ; // Weight of the CP in percents
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float angle ;
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} ;
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/// Angle P-RX-O, O being the origin of the trigonometric circle
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float origin_angle ;
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/// Selected transmitter CPs
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std::vector<cp> ref_cps ;
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/// Angles of the transmitter CPs (before M on the trigonometric
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/// circle)
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/**
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* Note that the angles are stored in absolute value.
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*/
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std::multimap<double,
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std::pair<double,
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std::unordered_map<
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std::string, CapturePoint>::const_iterator> >
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sorted_negative_angles ;
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/// Angles of the transmitter CPs (after M on the trigonometric circle)
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std::multimap<double,
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std::pair<double,
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std::unordered_map<
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std::string, CapturePoint>::const_iterator> >
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sorted_positive_angles ;
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/// Initialises a struct cp with the values from `s`
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void init_cp(
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const std::map<double, std::pair<double, std::unordered_map<
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std::string, CapturePoint>::const_iterator> >::const_iterator s) ;
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/// Generates the SSs for the current CP
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void generate_ss(void) ;
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/// Sorts the reference CPs for a receiver CP
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void sort_reference_cps(void) ;
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/// Computes the weight of the selected CP(s)
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void weight_cps(void) ;
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/// Weights two CPs according to their angles
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void weight_2_cps(void) ;
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/// Computes a SS with several packets in it
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void compute_multi_packet_ss(void) ;
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/// Computes a SS with only one packet in it
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bool compute_single_packet_ss(pkt_id_t pkt_id) ;
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/// Computes a SS according to the weight of the CP
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double compute_weighted_ss(const unsigned int cp_idx,
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const pkt_id_t pkt_id,
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const float point_dst) ;
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public:
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AutocalibrationMesh(const Point3D &_point): Autocalibration(_point) {}
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} ;
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#endif // _OWLPS_POSITIONING_AUTOCALIBRATIONMESH_HH_
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