wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P > Class Template Reference

Three-phase localization. More...

#include <distance_based_localization_base.h>

List of all members.

Public Types
enum	ErrorCodes { SUCCESS = OsModel::SUCCESS, ERR_UNSPEC = OsModel::ERR_UNSPEC, ERR_NOTIMPL = OsModel::ERR_NOTIMPL }
typedef OsModel_P	OsModel
typedef DistanceModule_P	DistanceModule
typedef PositionModule_P	PositionModule
typedef RefinementModule_P	RefinementModule
typedef Radio_P	Radio
typedef Timer_P	Timer
typedef Debug_P	Debug
typedef SharedData_P	SharedData
typedef Arithmatic_P	Arithmatic
typedef Vec< Arithmatic_P >	position_t
typedef DistanceBasedLocalization < OsModel, Radio, Timer, SharedData, DistanceModule, PositionModule, RefinementModule, Arithmatic,Debug >	self_type
typedef Radio::size_t	size_t
typedef Radio::node_id_t	node_id_t
typedef Radio::block_data_t	block_data_t
Public Member Functions
int	init (Radio &radio, Timer &timer, Debug &debug, SharedData &shared_data, DistanceModule &dist_module, PositionModule &pos_module, RefinementModule &ref_module)
int	init (void)
int	destruct (void)
void	receive (node_id_t from, size_t len, block_data_t *data)
	At first, this method checks, if the message should gone lost.
void	work (void *data)
	TODO: modules had been renewed! At first, this method executes the work method of both distance and refinement module.
SharedData &	shared_data (void)
void	set_anchor (bool anchor)
void	set_confidence (Arithmatic confidence)
void	set_position (const Vec< Arithmatic_P > &position)
void	set_active (bool active)
bool	active (void)
void	roll_back (void)
construction
	DistanceBasedLocalization ()

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Detailed Description

template<typename OsModel_P, typename Radio_P, typename Timer_P, typename SharedData_P, typename DistanceModule_P, typename PositionModule_P, typename RefinementModule_P, typename Arithmatic_P, typename Debug_P = typename OsModel_P::Debug>
class wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >

Three-phase localization.

There are anchorbased and anchorless algorithms. Anchorbased means, that unknown nodes, which do not know their position, need some nodes in the topology, which know their position. Anchorless algorithms build a relative coordinate system without the need of position aware nodes. Generally you should not mix these algorithms because potentially there will be no result.

Localization is cut in three phases depending on using anchors or not.

Anchorbased: At first, unknown nodes try to estimate their distance to the anchors. Second, with the resulting information the position is calculated. Third, an optional one, the estimated position is calibrated, e.g. with help of neighbors information.

Anchorless: At first, nodes try to get information about their neighborhood and build a local coordinate system. Second, they will build a global, or rather network, coordinate system. Third phase is an optional one where the positions and coordinate systems are calibrated.

The algorithms are not designed for mobility primary, but there is a chance to do so. In general each phase is processed one time before the processor deactivate itself. Therefor you could give an rollback number, which rerun the phases after the given number of rounds. Moreover there is an rollback_limit which limit the number of maximal rollbacks.

The algorithms are implemented in so called modules, one designed for each algorithm in each phase. All algorithms and calculations work on the same neighborhood.

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Member Typedef Documentation

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Arithmatic_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::Arithmatic

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio::block_data_t wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::block_data_t

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Debug_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::Debug

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef DistanceModule_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::DistanceModule

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio::node_id_t wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::node_id_t

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef OsModel_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::OsModel

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Vec<Arithmatic_P> wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::position_t

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef PositionModule_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::PositionModule

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::Radio

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef RefinementModule_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::RefinementModule

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef DistanceBasedLocalization<OsModel, Radio, Timer, SharedData, DistanceModule, PositionModule, RefinementModule,Arithmatic ,Debug> wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::self_type

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef SharedData_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::SharedData

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio::size_t wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::size_t

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

typedef Timer_P wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::Timer

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Member Enumeration Documentation

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

enum wiselib::DistanceBasedLocalization::ErrorCodes

Enumerator:

SUCCESS
ERR_UNSPEC
ERR_NOTIMPL

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Constructor & Destructor Documentation

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P >

wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::DistanceBasedLocalization

(

)

---

Member Function Documentation

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

bool wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::active

(

void

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P >

int wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::destruct

(

void

)

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P >

int wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::init

(

void

)

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P >

int wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::init	(	Radio &	radio,
		Timer &	timer,
		Debug &	debug,
		SharedData &	shared_data,
		DistanceModule &	dist_module,
		PositionModule &	pos_module,
		RefinementModule &	ref_module
	)

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P >

void wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::receive	(	node_id_t	from,
		size_t	len,
		block_data_t *	data
	)

At first, this method checks, if the message should gone lost.

If not, message is forwarded to distance and refinement module.

Returns:

true, if message is processed, false, if not.

See also:

shawn::Processor::process_message()

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

void wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::roll_back

(

void

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

void wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::set_active

(

bool

active

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

void wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::set_anchor

(

bool

anchor

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

void wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::set_confidence

(

Arithmatic

confidence

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

void wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::set_position

(

const Vec< Arithmatic_P > &

position

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P = typename OsModel_P::Debug>

SharedData& wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::shared_data

(

void

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Timer_P , typename SharedData_P , typename DistanceModule_P , typename PositionModule_P , typename RefinementModule_P , typename Arithmatic_P , typename Debug_P >

void wiselib::DistanceBasedLocalization< OsModel_P, Radio_P, Timer_P, SharedData_P, DistanceModule_P, PositionModule_P, RefinementModule_P, Arithmatic_P, Debug_P >::work

(

void *

data

)

TODO: modules had been renewed! At first, this method executes the work method of both distance and refinement module.

Second, if the distance phase is finished, this method tries to estimate the node's position.

See also:

shawn::Processor::work()

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

• wiselib.testing/algorithms/localization/distance_based/distance_based_localization_base.h