wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P > Class Template Reference

Module implementing euclidean distance estimation. More...

#include <localization_euclidean_module.h>

Inherits wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

List of all members.

Public Types
enum	EuclideanCollinearCheckStd { eu_cc_std_lax, eu_cc_std_strict, eu_cc_std_none }
enum	EuclideanCollinearCheckNV { eu_cc_nv_lax, eu_cc_nv_strict, eu_cc_nv_none }
enum	EuclideanCollinearCheckCN { eu_cc_cn_lax, eu_cc_cn_strict, eu_cc_cn_none }
enum	EuclideanAlgo { eu_algo_normal, eu_algo_opt }
enum	EuclideanVote { eu_vote_nv, eu_vote_cn, eu_vote_nvcn, eu_vote_cnnv }
typedef OsModel_P	OsModel
typedef Radio_P	Radio
typedef Clock_P	Clock
typedef Distance_P	Distance
typedef Debug_P	Debug
typedef SharedData_P	SharedData
typedef DistancePair_P	DistancePair
typedef LocalizationSumDistModule < OsModel, Radio, Clock, Distance, Debug, SharedData >	self_type
typedef LocalizationModule < OsModel, Radio, SharedData >	base_type
typedef Radio::size_t	size_t
typedef Radio::node_id_t	node_id_t
typedef Radio::block_data_t	block_data_t
typedef Clock_P::time_t	time_t
typedef SharedData::DistanceMap	DistanceMap
typedef SharedData::NodeList	NodeList
typedef NodeList::iterator	NodeListIterator
typedef LocalizationEuclideanInitMessage < OsModel, Radio >	EuclideanInitMessage
typedef LocalizationEuclideanAnchorMessage < OsModel, Radio >	EuclideanAnchorMessage
typedef LocalizationEuclideanNeighborMessage < OsModel, Radio, DistanceMap >	EuclideanNeighborMessage
typedef LocalizationStatistic < OsModel >	Statistics
typedef SharedData::Neighborhood::NeighborhoodIterator	NeighborhoodIterator
typedef SharedData::Neighborhood	Neighborhood
typedef SharedData::LocalCoordinateSystem	LocalCoordinateSystem
Public Member Functions
void	rollback (void)
void	init (Radio &radio, Clock &clock, Debug &debug, SharedData &shared_data, Distance &distance)
construction / destruction
	LocalizationEuclideanModule ()
	~LocalizationEuclideanModule ()
standard methods startup/simulation steps
void	receive (node_id_t from, size_t len, block_data_t *data)
	Handling of Euclidean-Messages.
void	work (void)
	Check, whether state can be set to finished or not.
module status info
bool	finished (void)
basic access to owner, observer, neighborhood and local coordinate system
void	set_shared_data (SharedData &shared_data)
	This method sets the shared data object, which can be accessed by all available modules.
SharedData &	shared_data (void)
Neighborhood &	neighborhood (void)
LocalCoordinateSystem &	local_coord_sys (void)
Protected Member Functions
processing euclidean messages
bool	process_euclidean_init_message (node_id_t from, size_t len, block_data_t *data)
	This method processes initial messages.
void	broadcast_neighborhood (void)
	This method broadcasts the neighborhood generated by the initial messages.
bool	process_euclidean_neighbor_message (node_id_t from, size_t len, block_data_t *data)
	This method processes neighborhood messages.
bool	process_euclidean_anchor_message (node_id_t from, size_t len, block_data_t *data)
	This method processes anchor messages.
void	execute_euclidean (node_id_t anchor)
	This method tries to estimate/compute a new anchor distance.
work on neighborhood
double	find_anchor_distance (node_id_t anchor)
	This method searches for two valid neighbors, that know their distance to given anchor and each other.
double	find_anchor_distance_opt (node_id_t anchor)
	This method searches for two valid neighbors, that know their distance to given anchor and each other.
NodeList	find_unique_neighbor_neighbors (node_id_t anchor, node_id_t n1, node_id_t n2)
	There are an anchor and two neighbors given.
NodeList	find_common_neighbor_neighbors (node_id_t anchor, node_id_t n1, node_id_t n2)
	There are an anchor and two neighbors given.
NodeList	find_common_neighbor_neighbors_opt (node_id_t, node_id_t, node_id_t, double &)
	There are an anchor and two neighbors given.
double	neighbor_vote (node_id_t, node_id_t, node_id_t, DistancePair &, NodeList &)
	This method decides, which of given feasible solutions is the right one.
double	common_neighbor (node_id_t, node_id_t, node_id_t, DistancePair &, NodeList &)
	This method decides, which of given feasible solutions is the right one.
parametrization
void	set_collinear_check_std (EuclideanCollinearCheckStd check)
	Read the given parameters, which have been set via simulator commands or configuration file.
void	set_collinear_check_nv (EuclideanCollinearCheckNV check)
void	set_collinear_check_cn (EuclideanCollinearCheckCN check)
void	set_euclidean_algo (EuclideanAlgo algo)
void	set_euclidean_algo (EuclideanVote vote)

---

Detailed Description

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>
class wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >

Module implementing euclidean distance estimation.

This module implements euclidean distance estimation. Idea is to compute the real distances to anchors.

If unknown receives a message from two neighbors that know their distance to an anchor and each other, unknown is able to get two possible distances to the anchor via trilateration. One of these distances is right, the other is wrong. To decide, which of these distances is right, there are two different methods, named 'neighbor vote' and 'common neighbor'.

The first, 'neighbor vote', needs at least one more neighbor, that has a distance to the anchor and one of the first mentioned neighbors. Now the trilateration is done a second time, resulting again in two distances. Then you take the distances of first and second pair, which are nearest to each other.

Second method, 'common neighbor', needs one more neighbor that has a distance to the anchor and both of first mentioned neighbors. Basic geometric reasoning leads to the right solution.

---

Member Typedef Documentation

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef LocalizationModule<OsModel, Radio, SharedData> wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::base_type

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Radio::block_data_t wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::block_data_t

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Clock_P wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::Clock

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Debug_P wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::Debug

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Distance_P wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::Distance

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef SharedData::DistanceMap wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::DistanceMap

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef DistancePair_P wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::DistancePair

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef LocalizationEuclideanAnchorMessage<OsModel, Radio> wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::EuclideanAnchorMessage

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef LocalizationEuclideanInitMessage<OsModel, Radio> wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::EuclideanInitMessage

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef LocalizationEuclideanNeighborMessage<OsModel, Radio, DistanceMap> wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::EuclideanNeighborMessage

template<typename OsModel_P , typename Radio_P , typename SharedData_P >

typedef SharedData::LocalCoordinateSystem wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >::LocalCoordinateSystem [inherited]

Reimplemented in wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >, and wiselib::LocalizationGpsFreeNcsModule< OsModel_P, Radio_P, Clock_P, Debug_P, SharedData_P >.

template<typename OsModel_P , typename Radio_P , typename SharedData_P >

typedef SharedData::Neighborhood wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >::Neighborhood [inherited]

Reimplemented in wiselib::LocalizationLaterationModule< OsModel_P, Radio_P, Debug_P, SharedData_P, Arithmatic_P >, wiselib::LocalizationMinMaxModule< OsModel_P, Radio_P, Debug_P, SharedData_P, Arithmatic_P >, and wiselib::LocalizationIterLaterationModule< OsModel_P, Radio_P, Distance_P, Debug_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef SharedData::Neighborhood::NeighborhoodIterator wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::NeighborhoodIterator

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Radio::node_id_t wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::node_id_t

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef SharedData::NodeList wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::NodeList

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef NodeList::iterator wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::NodeListIterator

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef OsModel_P wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::OsModel

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Radio_P wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::Radio

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef LocalizationSumDistModule<OsModel, Radio, Clock, Distance, Debug, SharedData> wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::self_type

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef SharedData_P wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::SharedData

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Radio::size_t wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::size_t

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef LocalizationStatistic<OsModel> wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::Statistics

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

typedef Clock_P::time_t wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::time_t

---

Member Enumeration Documentation

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

enum wiselib::LocalizationEuclideanModule::EuclideanAlgo

Enumerator:

eu_algo_normal
eu_algo_opt

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

enum wiselib::LocalizationEuclideanModule::EuclideanCollinearCheckCN

Enumerator:

eu_cc_cn_lax
eu_cc_cn_strict
eu_cc_cn_none

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

enum wiselib::LocalizationEuclideanModule::EuclideanCollinearCheckNV

Enumerator:

eu_cc_nv_lax
eu_cc_nv_strict
eu_cc_nv_none

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

enum wiselib::LocalizationEuclideanModule::EuclideanCollinearCheckStd

Enumerator:

eu_cc_std_lax
eu_cc_std_strict
eu_cc_std_none

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

enum wiselib::LocalizationEuclideanModule::EuclideanVote

Enumerator:

eu_vote_nv
eu_vote_cn
eu_vote_nvcn
eu_vote_cnnv

---

Constructor & Destructor Documentation

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::LocalizationEuclideanModule

(

)

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::~LocalizationEuclideanModule

(

)

---

Member Function Documentation

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::broadcast_neighborhood

(

void

)

[protected]

This method broadcasts the neighborhood generated by the initial messages.

See also:

LocalizationEuclideanNeighborMessage

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

double wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::common_neighbor	(	node_id_t	anchor,
		node_id_t	n1,
		node_id_t	n2,
		DistancePair &	dp,
		NodeList &	nl
	)		[protected]

This method decides, which of given feasible solutions is the right one.

The solutions are a result of trilateration with distances between self, two neighbors and an anchor.

A third neighbor is taken, that has distance to both mentioned neighbors, self and anchor. Basic geometric reasoning leads to the right solution.

Parameters:

Node	given anchor
Node	first neighbor
Node	second neighbor
localization::DistancePair	two feasible solutions
localization::NodeList	list of third neighbors

Returns:

Best fit distance of given DistancePair. If there is no decision, method returns -1

See also:

neighbor_vote()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::execute_euclidean

(

node_id_t

anchor

)

[protected]

This method tries to estimate/compute a new anchor distance.

Parameters:

Node	given anchor

See also:

find_anchor_distance(), find_anchor_distance_opt()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

double wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::find_anchor_distance

(

node_id_t

anchor

)

[protected]

This method searches for two valid neighbors, that know their distance to given anchor and each other.

If found, it tries to apply as well mentioned 'neighbor vote' as 'common neighbor'.

Per parameters you can tell, if just one or both methods are used.

If wanted solution is reached, the search ends.

Parameters:

Node	given anchor

See also:

find_anchor_distance_opt()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

double wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::find_anchor_distance_opt

(

node_id_t

anchor

)

[protected]

This method searches for two valid neighbors, that know their distance to given anchor and each other.

If found, it tries to apply as well mentioned 'neighbor vote' as 'common neighbor'.

Unlike find_anchor_distance(), it just searches a 'common neighbor' for both vote methods. Because of some problems with collinear nodes it takes the 'fewest collinear' solution.

Parameters:

Node	given anchor

See also:

find_anchor_distance()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::NodeList wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::find_common_neighbor_neighbors	(	node_id_t	anchor,
		node_id_t	n1,
		node_id_t	n2
	)		[protected]

There are an anchor and two neighbors given.

This method searches for all neighbors, that are neighbors of first and second, and have a link to self and anchor.

Parameters:

Node	given anchor
Node	first neighbor
Node	second neighbor

Returns:

NodeList above mentioned neighbors

See also:

find_unique_neighbor_neighbors(), find_common_neighbor_neighbors_opt()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::NodeList wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::find_common_neighbor_neighbors_opt	(	node_id_t	anchor,
		node_id_t	n1,
		node_id_t	n2,
		double &	col_measure
	)		[protected]

There are an anchor and two neighbors given.

This method searches for all neighbors, that are neighbors of first and second, and have a link to self and anchor.

Because of conflicts with collinear neighbors, the result is the 'fewest collinear' neighbor pair.

Parameters:

Node	given anchor
Node	first neighbor
Node	second neighbor

Returns:

NodeList above mentioned neighbor

See also:

find_common_neighbor_neighbors(), find_unique_neighbor_neighbors()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::NodeList wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::find_unique_neighbor_neighbors	(	node_id_t	anchor,
		node_id_t	n1,
		node_id_t	n2
	)		[protected]

There are an anchor and two neighbors given.

This method searches for all neighbors, that either are neighbors of first or second, and have a link to self and anchor.

Parameters:

Node	given anchor
Node	first neighbor
Node	second neighbor

Returns:

NodeList above mentioned neighbors

See also:

find_common_neighbor_neighbors(), find_common_neighbor_neighbors_opt()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

bool wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::finished

(

void

)

Returns:

true, if module is finished. false otherwise

See also:

LocalizationModule::finished()

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::init	(	Radio &	radio,
		Clock &	clock,
		Debug &	debug,
		SharedData &	shared_data,
		Distance &	distance
	)		[inline]

template<typename OsModel_P , typename Radio_P , typename SharedData_P >

LocalCoordinateSystem& wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >::local_coord_sys

(

void

)

[inline, inherited]

Returns:

Writable shared LocalizationLocalCoordinateSystem.

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

double wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::neighbor_vote	(	node_id_t	anchor,
		node_id_t	n1,
		node_id_t	n2,
		DistancePair &	dp1,
		NodeList &	nl
	)		[protected]

This method decides, which of given feasible solutions is the right one.

The solutions are a result of trilateration with distances between self, two neighbors and an anchor.

The neighbor vote applies the same procedure with given third neighbors and each of both first mentioned neighbors. This results in at least two different localization::DistancePairs. Now the results are split into two parts. One with the distances, which are nearest to each other, and one with the others.
The mean of first mentioned part should be the right solution.

Moreover, there are two checks to decide, whether the solution is valid or not. At first, if the nodes are collinear, it is hard to select the right alternative, because the difference in distances in both parts is very low. These cases are filtered out by the requirement, that the standard deviation in one part must be at most 1/3rd of the standard deviation of the other part.
Second, if there is one neighbor with incorrect information, this could result in two wrong votes. This case is filtered out by the requirement, that the standard deviation of selected part is at most 5% of mean.

Parameters:

Node	given anchor
Node	first neighbor
Node	second neighbor
localization::DistancePair	two feasible solutions
localization::NodeList	list of third neighbors

Returns:

Best fit distance of given DistancePair. If there is no decision or a check fails, method returns -1

See also:

common_neighbor()

template<typename OsModel_P , typename Radio_P , typename SharedData_P >

Neighborhood& wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >::neighborhood

(

void

)

[inline, inherited]

Returns:

Writable shared LocalizationNeighborhood.

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

bool wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::process_euclidean_anchor_message	(	node_id_t	from,
		size_t	len,
		block_data_t *	data
	)		[protected]

This method processes anchor messages.

The message tells, that a neighbor got a distance to some anchor. New information is added to neighborhood and the module tries to estimate/compute distance to mentioned anchor.

See also:

LocalizationEuclideanAnchorMessage, execute_euclidean()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

bool wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::process_euclidean_init_message	(	node_id_t	from,
		size_t	len,
		block_data_t *	data
	)		[protected]

This method processes initial messages.

Source of message is added to neighborhood.

See also:

LocalizationEuclideanInitMessage

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

bool wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::process_euclidean_neighbor_message	(	node_id_t	from,
		size_t	len,
		block_data_t *	data
	)		[protected]

This method processes neighborhood messages.

The neighbors of message source are added to neighborhood.

See also:

LocalizationEuclideanNeighborMessage

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::receive	(	node_id_t	from,
		size_t	len,
		block_data_t *	data
	)

Handling of Euclidean-Messages.

See also:

LocalizationModule::process_message()

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::rollback

(

void

)

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::set_collinear_check_cn

(

EuclideanCollinearCheckCN

check

)

[inline, protected]

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::set_collinear_check_nv

(

EuclideanCollinearCheckNV

check

)

[inline, protected]

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::set_collinear_check_std

(

EuclideanCollinearCheckStd

check

)

[inline, protected]

Read the given parameters, which have been set via simulator commands or configuration file.

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::set_euclidean_algo

(

EuclideanAlgo

algo

)

[inline, protected]

template<typename OsModel_P, typename Radio_P, typename Clock_P, typename Distance_P, typename Debug_P, typename SharedData_P, typename DistancePair_P>

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::set_euclidean_algo

(

EuclideanVote

vote

)

[inline, protected]

template<typename OsModel_P , typename Radio_P , typename SharedData_P >

void wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >::set_shared_data

(

SharedData &

shared_data

)

[inline, inherited]

This method sets the shared data object, which can be accessed by all available modules.

Parameters:

LocalizationSharedData

Shared data between all modules.

template<typename OsModel_P , typename Radio_P , typename SharedData_P >

SharedData& wiselib::LocalizationModule< OsModel_P, Radio_P, SharedData_P >::shared_data

(

void

)

[inline, inherited]

Returns:

LocalizationSharedData shared by all modules.

writable LocalizationSharedData shared by all modules.

template<typename OsModel_P , typename Radio_P , typename Clock_P , typename Distance_P , typename Debug_P , typename SharedData_P , typename DistancePair_P >

void wiselib::LocalizationEuclideanModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P, DistancePair_P >::work

(

void

)

Check, whether state can be set to finished or not.

Moreover, send initial messages.

See also:

LocalizationModule::work()

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The documentation for this class was generated from the following file:

• wiselib.testing/algorithms/localization/distance_based/modules/distance/localization_euclidean_module.h