RTLS.h

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/*
 * Copyright (C) by
 *   MetraLabs GmbH (MLAB), GERMANY
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 *
 * Redistribution and modification of this code is strictly prohibited.
 *
 * IN NO EVENT SHALL "MLAB" BE LIABLE TO ANY PARTY FOR DIRECT, INDIRECT,
 * SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE
 * OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF "MLABS" HS BEEN
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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 * "MLAB" SPECIFICALLY DISCLAIMS ANY WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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 * "AS IS" BASIS, AND "MLAB" HAS NO OBLIGATION TO PROVIDE MAINTENANCE,
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#ifndef _MLAB_LOCALIZATION_RTLS_H_
#define _MLAB_LOCALIZATION_RTLS_H_

#include <serialization/adapters/std/vector>

#include <geometry/Rect.h>

#include <geometry/Point.h>

namespace mira { namespace localization {


struct RTLSBeacon
{
    RTLSBeacon() : pos(0.0f, 0.0f, 0.0f) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("ID",       id,       "Identifier of the beacon.");
        r.member("Pos",      pos,      "Global position of the beacon.");
        r.member("Label",    label,    "Beacon label according to BeaconMap");
    }

    std::string id;
    Point3f pos;
    std::string label;
};

typedef std::vector<RTLSBeacon> RTLSBeaconMap;


struct RTLSMeasurement
{
    RTLSMeasurement() : distance(-1.0f) {}

    template<typename Reflector>
    void reflect(Reflector& r)
    {
        r.member("Beacon",     beacon,     "Measured beacon.");

        r.member("Distance",   distance,   "Measured distance in [m].");
        r.member("RSSI",       rssi,       "RSSI value.");
        r.member("Error",      error,      "Error value.");
    }

    RTLSBeacon beacon;

    float distance;
    float rssi;
    std::string error;
};

typedef std::vector<RTLSMeasurement> RTLSMeasurementList;


Point2f rtlsMeasurementToPointXYMultilateration(RTLSMeasurementList& measurements,
                                    float sensorZPosition, float* oError = NULL);


Point2f rtlsMeasurementToPointXYAVBLE(RTLSMeasurementList& measurements,
                                    float sensorZPosition, Rect2f votingMap,
                                    float* oError = NULL, int minIntersections = 3,
                                    bool dynamicMapSize = true, float maxGridFactor = 0.5f,
                                    float minGridSize = 0.25f, float shrinkFactor = 0.5f);


Point2f rtlsMeasurementToPointXYIBLE(RTLSMeasurementList& measurements,
                                    float sensorZPosition, float* oError = NULL);


}}

#endif