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

Module that implements GPS-free Local Coordinate System building. More...

#include <localization_gpsfree_lcs_module.h>

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

List of all members.

Public Types
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 LocalizationGpsFreeLcsModule < 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::LocalCoordinateSystem	LocalCoordinateSystem
typedef SharedData::Neighborhood::NeighborhoodIterator	NeighborhoodIterator
typedef LocalizationGpsFreeLcsInitMessage < OsModel, Radio >	GpsFreeLcsInitMessage
typedef LocalizationGpsFreeLcsNeighborMessage < OsModel, Radio, DistanceMap >	GpsFreeLcsNeighborMessage
typedef SharedData::Neighborhood	Neighborhood
Public Member Functions
void	rollback (void)
void	init (Radio &radio, Clock &clock, Debug &debug, SharedData &shared_data, Distance &distance)
construction / destruction
	LocalizationGpsFreeLcsModule ()
	~LocalizationGpsFreeLcsModule ()
standard methods startup/simulation steps
void	receive (node_id_t from, size_t len, block_data_t *data)
	Handling of GPS-free-LCS-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 gpsfree lcs messages
bool	process_gpsfree_lcs_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_gpsfree_lcs_neighbor_message (node_id_t from, size_t len, block_data_t *data)
	This method processes neighborhood messages.
work
void	build_lcs (void)
	Build a local coordinate system just like described in the paper.
initial methods
void	set_lcs_epsilon (double epsilon)
	Read the given parameters, which have been set via simulator commands or configuration file.

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Detailed Description

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

Module that implements GPS-free Local Coordinate System building.

This module implements the algorithm to get a local coordinate system just like described in GPS-free positioning in moblie ad hoc networks by Capkun, Hamdi, Hubeaux.

At first nodes build their 2-hop neighborhood by sending an initial message, receive initial messages from neighbors and send again a message contending constructed neighborhood to surrounding nodes.

After that nodes build their local coordinate system. [...]

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Comment by the author This is not a full implementation of the above mentioned paper. Up to now there are two parts missing: On the one hand (just a little thing) the computation per triangulation of unknown nodes (the stuff with the node k, which is not neighbor of p and q and should be computed by using the position of node i and two other nodes for which the positions are already obtained) has not be done. On the other hand (the big part) the whole stuff with the Location Reference Group is still missing.

I think, that these parts are useless unless the algorithm has been optimized in two ways. First the nearly unrelevant one: By choosing nodes p and q to maximize the number of regular nodes in the LVS (see LocalizationGpsFreeLcsModule<OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P>::build_lcs()), the "up-to-now-solution" is a very unfortunaletly one, because the computation overhead is really big. Second (in my opinion the main argument against using this algorithm unless there appears a better solution) there is a problem with the triangulisation in the paper (see formula (3), deciding, on which side of the x-axis a node is located) and errors in distance measurement. The author mentioned, that the two angles can not be equal in practice and that some differences should be tolerated. Unfortunaletly I hadn't found any epsilon leading to satisfactorily solutions. Maybe it is an approach to look at the papers of K. Langendoen and D. Niculesco and their handling of the similar "euclidean-problem".

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Member Typedef Documentation

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

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

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

typedef Radio::block_data_t wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

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

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

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

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

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

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

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

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

typedef LocalizationGpsFreeLcsInitMessage<OsModel, Radio> wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::GpsFreeLcsInitMessage

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

typedef LocalizationGpsFreeLcsNeighborMessage<OsModel, Radio, DistanceMap> wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::GpsFreeLcsNeighborMessage

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

typedef SharedData::LocalCoordinateSystem wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::LocalCoordinateSystem

Reimplemented from wiselib::LocalizationModule< OsModel_P, Radio_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 >

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

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

typedef Radio::node_id_t wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

typedef OsModel_P wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

typedef Radio_P wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

typedef LocalizationGpsFreeLcsModule<OsModel, Radio, Clock, Distance, Debug, SharedData> wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

typedef SharedData_P wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

typedef Radio::size_t wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

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

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Constructor & Destructor Documentation

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

wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::LocalizationGpsFreeLcsModule

(

)

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

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

(

)

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Member Function Documentation

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

void wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

void wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::build_lcs

(

void

)

[protected]

Build a local coordinate system just like described in the paper.

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

bool wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 >

void wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_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 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 >

bool wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::process_gpsfree_lcs_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 >

bool wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::process_gpsfree_lcs_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 >

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

Handling of GPS-free-LCS-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 >

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

(

void

)

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

void wiselib::LocalizationGpsFreeLcsModule< OsModel_P, Radio_P, Clock_P, Distance_P, Debug_P, SharedData_P >::set_lcs_epsilon

(

double

epsilon

)

[inline, protected]

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

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 >

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

(

void

)

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

Moreover, send initial messages and build local coordinate system.

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_gpsfree_lcs_module.h