wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P > Class Template Reference

triangulation algorithm implementation More...

#include <triangulation.h>

List of all members.

Classes
struct	circle
struct	triangle
Public Types
enum	ErrorCodes { SUCCESS = OsModel::SUCCESS, ERR_UNSPEC = OsModel::ERR_UNSPEC, ERR_NOTIMPL = OsModel::ERR_NOTIMPL }
typedef OsModel_P	OsModel
typedef Radio_P	Radio
typedef Debug_P	Debug
typedef Distance_P	Distance
typedef StaticArrayRoutingTable < OsModel, Radio, 15, int >	int_map_t
typedef int_map_t::iterator	int_map_iterator_t
typedef Triangulation< OsModel, Radio, Distance, Debug >	self_type
typedef OsModel::Timer	Timer
typedef Timer::millis_t	millis_t
typedef Radio::node_id_t	node_id_t
typedef Radio::size_t	size_t
typedef Radio::block_data_t	block_data_t
typedef Radio::message_id_t	message_id_t
typedef TriangulationMessage < OsModel, Radio >	Message
typedef delegate1< void, int >	localization_delegate_t
Public Member Functions
int	getIndex (node_id_t)
	Returns the internal index of a node ID.
int	getNode (int)
	Returns the node ID that is mapped to a internal index.
void	findP ()
	Identifies two nodes p and q that help finding coordinates of other nodes.
void	findCoordinatesP ()
	Uses the identified nodes p and q to find coordinates of other nodes.
void	findPQ ()
	Identifies two nodes p and q that help finding coordinates of other nodes.
void	findCoordinatesPQ ()
	Uses two nodes p and q to find coordinates of other nodes.
void	findCircle ()
	Iterates over all found coordinates and tries to find potential triangles.
int	testCircle (int, int)
	Determines whether a circle of three nodes contains a node inside.
void	setRating (node_id_t, node_id_t, int)
	Function that assigns other nodes ratings to found circles.
void	setTriangleGlobal (node_id_t, node_id_t, node_id_t, int)
	Converts a found circle and therefore potential triangle to a mandatory global triangle.
bool	nodeInTriangles ()
	Checks whether the node is part of at least one triangle.
int	lookUpTrust (int, int)
	Returns the trust value corresponding to two ratings from two nodes.
int	bestCircleIndex (node_id_t)
	Iterates over all known circles and returns the one with the highest rating that incorporates a specific node ID.
int	max (int, int)
	Returns the maximum of two integer values.
int	min (int, int)
	Returns the minimum of two integer values.
void	coordinates_timer_elapsed (void *userdata)
	Timer that starts the determination of coordinates.
void	complete_triangulation_timer_elapsed (void *userdata)
	Timer that checks whether the node is part of a triangle and then tries to link the node.
void	select_best_circle_timer_elapsed (void *userdata)
	Timer that selects the best triangle proposal on expiration.
void	fourth_timer_elapsed (void *userdata)
	Timer that prints out some results.
void	send_timer_elapsed (void *userdata)
	Timer that calls the send function.
void	message_timer_elapsed (void *userdata)
	Timer that will send out the next message from the message vector.
void	triangles_changed (int)
template<class T , void(T::*)(int) TMethod>
void	reg_changed_callback (T *obj_pnt)
void	unreg_changed_callback (void)
void	notify_receivers (int value)
int	init (Radio &radio, Timer &timer, Debug &debug)
int	init ()
int	destruct ()
Construction / Destruction
	Triangulation ()
	~Triangulation ()
Enable / Disable
void	enable (void)
void	disable (void)
Algorithm Initialization
void	send ()
Methods called by RadioModel
void	receive (node_id_t from, size_t len, block_data_t *data)
Public Attributes
localization_delegate_t	callback_

---

Detailed Description

template<typename OsModel_P, typename Radio_P, typename Distance_P, typename Debug_P = typename OsModel_P::Debug>
class wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >

triangulation algorithm implementation

---

Member Typedef Documentation

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio::block_data_t wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::block_data_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Debug_P wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::Debug

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Distance_P wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::Distance

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef int_map_t::iterator wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::int_map_iterator_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef StaticArrayRoutingTable<OsModel, Radio, 15, int> wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::int_map_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef delegate1<void, int> wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::localization_delegate_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef TriangulationMessage<OsModel, Radio> wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::Message

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio::message_id_t wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::message_id_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Timer::millis_t wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::millis_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio::node_id_t wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::node_id_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef OsModel_P wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::OsModel

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio_P wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::Radio

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Triangulation<OsModel, Radio, Distance, Debug> wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::self_type

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef Radio::size_t wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::size_t

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

typedef OsModel::Timer wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::Timer

---

Member Enumeration Documentation

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

enum wiselib::Triangulation::ErrorCodes

Enumerator:

SUCCESS
ERR_UNSPEC
ERR_NOTIMPL

---

Constructor & Destructor Documentation

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

wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::Triangulation

(

)

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

wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::~Triangulation

(

)

---

Member Function Documentation

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

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::bestCircleIndex

(

node_id_t

demandedID

)

Iterates over all known circles and returns the one with the highest rating that incorporates a specific node ID.

Parameters:

nodeID

Node ID that a circle is searched for

Returns:

Index of the found circle.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::complete_triangulation_timer_elapsed

(

void *

userdata

)

Timer that checks whether the node is part of a triangle and then tries to link the node.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::coordinates_timer_elapsed

(

void *

userdata

)

Timer that starts the determination of coordinates.

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::destruct

(

void

)

[inline]

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::disable

(

void

)

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::enable

(

void

)

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::findCircle

(

)

Iterates over all found coordinates and tries to find potential triangles.

Iteriert über alle vorhandenen Knotenkoordinaten und versucht, kollisionsfreie Kreise zu finden Zur Bewertung der Kreise wird testCircle() aufgerufen.

Ein koillisionsfreier Kreis wird in den Vektor foundCircles eingefügt. Anschließend wird eine Nachricht an die beiden beteiligten Knoten versandt, die den Kreis ebenfalls testen werden.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::findCoordinatesP

(

)

Uses the identified nodes p and q to find coordinates of other nodes.

The function is called by findP().

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::findCoordinatesPQ

(

)

Uses two nodes p and q to find coordinates of other nodes.

The function is called by findPQ(). The function has not been tested on actual nodes!

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::findP

(

)

Identifies two nodes p and q that help finding coordinates of other nodes.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::findPQ

(

)

Identifies two nodes p and q that help finding coordinates of other nodes.

Requires to adjust a tolerance parameter that is located inside the method. The function has not been tested on actual nodes!

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::fourth_timer_elapsed

(

void *

userdata

)

Timer that prints out some results.

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

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::getIndex

(

node_id_t

nodeID

)

Returns the internal index of a node ID.

Parameters:

ID	node ID the index is requested for

Returns:

Corresponding index

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

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::getNode

(

int

abc

)

Returns the node ID that is mapped to a internal index.

Parameters:

index

Internal index that identifies the corresponding node ID

Returns:

Corresponding node ID

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::init

(

void

)

[inline]

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::init	(	Radio &	radio,
		Timer &	timer,
		Debug &	debug
	)		[inline]

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

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::lookUpTrust	(	int	ratingFirst,
		int	ratingSecond
	)

Returns the trust value corresponding to two ratings from two nodes.

Parameters:

firstRating	First rating value
secondRating	Second rating value

Returns:

Trust value

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

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::max	(	int	a,
		int	b
	)

Returns the maximum of two integer values.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::message_timer_elapsed

(

void *

userdata

)

Timer that will send out the next message from the message vector.

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

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::min	(	int	a,
		int	b
	)

Returns the minimum of two integer values.

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

bool wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::nodeInTriangles

(

)

Checks whether the node is part of at least one triangle.

Returns:

Boolean value that represents the result

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::notify_receivers

(

int

value

)

[inline]

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

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

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

template<class T , void(T::*)(int) TMethod>

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::reg_changed_callback

(

T *

obj_pnt

)

[inline]

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::select_best_circle_timer_elapsed

(

void *

userdata

)

Timer that selects the best triangle proposal on expiration.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::send

(

)

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::send_timer_elapsed

(

void *

userdata

)

Timer that calls the send function.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::setRating	(	node_id_t	fromID,
		node_id_t	thirdID,
		int	rating
	)

Function that assigns other nodes ratings to found circles.

Parameters:

senderID	ID of the sender
thirdID	ID of the third node being part of the triangle
rating	Rating the sender transmitted

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::setTriangleGlobal	(	node_id_t	a,
		node_id_t	b,
		node_id_t	c,
		int	trust
	)

Converts a found circle and therefore potential triangle to a mandatory global triangle.

Parameters:

ownID	The ID of the node itself
firstID	First ID of found circle
secondID	Second ID of found circle
trust	Trust value of the triangle

wichtig: a = eigene ID, b = foundCircles.idFirst, c = foundCircles.idSecond

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

int wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::testCircle	(	int	B,
		int	C
	)

Determines whether a circle of three nodes contains a node inside.

Prüft, ob ein Dreieck ein Delaunay-Dreieck ist 0, wenn Koordinaten nicht ausreichen 1, wenn kein anderer Knoten innerhalb des Kreises 2, wenn ein Knoten innerhalb ist.

Parameters:

firstID	ID of the first node
secondID	ID of the second node

Returns:

Integer value that represents the result.

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

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::triangles_changed

(

int

ID

)

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

void wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::unreg_changed_callback

(

void

)

[inline]

---

Member Data Documentation

template<typename OsModel_P , typename Radio_P , typename Distance_P , typename Debug_P = typename OsModel_P::Debug>

localization_delegate_t wiselib::Triangulation< OsModel_P, Radio_P, Distance_P, Debug_P >::callback_

---

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

• wiselib.testing/algorithms/localization/triangulation/triangulation.h