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Wiselib
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wiselib.testing/algorithms/localization/distance_based/neighborhood/localization_neighbor_info.h
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00001 /*************************************************************************** 00002 ** This file is part of the generic algorithm library Wiselib. ** 00003 ** Copyright (C) 2008,2009 by the Wisebed (www.wisebed.eu) project. ** 00004 ** ** 00005 ** The Wiselib is free software: you can redistribute it and/or modify ** 00006 ** it under the terms of the GNU Lesser General Public License as ** 00007 ** published by the Free Software Foundation, either version 3 of the ** 00008 ** License, or (at your option) any later version. ** 00009 ** ** 00010 ** The Wiselib is distributed in the hope that it will be useful, ** 00011 ** but WITHOUT ANY WARRANTY; without even the implied warranty of ** 00012 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the ** 00013 ** GNU Lesser General Public License for more details. ** 00014 ** ** 00015 ** You should have received a copy of the GNU Lesser General Public ** 00016 ** License along with the Wiselib. ** 00017 ** If not, see <http://www.gnu.org/licenses/>. ** 00018 ***************************************************************************/ 00019 #ifndef __ALGORITHMS_LOCALIZATION_DISTANCE_BASED_NEIGHBORHOOD_NEIGHBOR_INFO_H 00020 #define __ALGORITHMS_LOCALIZATION_DISTANCE_BASED_NEIGHBORHOOD_NEIGHBOR_INFO_H 00021 00022 #include "algorithms/localization/distance_based/util/localization_defutils.h" 00023 #include <limits.h> 00024 00025 00026 namespace wiselib 00027 { 00028 00030 00051 template<typename OsModel_P, 00052 typename node_id_t_P, 00053 typename NodeSet_P, 00054 typename DistanceMap_P, 00055 typename Arithmatic_P 00056 > 00057 class LocalizationNeighborInfo 00058 { 00059 00060 public: 00061 typedef OsModel_P OsModel; 00062 typedef node_id_t_P node_id_t; 00063 00064 typedef NodeSet_P NodeSet; 00065 typedef DistanceMap_P DistanceMap; 00066 00067 typedef Arithmatic_P Arithmatic; 00068 00069 typedef typename DistanceMap::iterator NeighborIterator; 00070 00073 00078 LocalizationNeighborInfo( node_id_t, bool ); 00079 LocalizationNeighborInfo( ); 00081 ~LocalizationNeighborInfo(); 00083 00084 00085 LocalizationNeighborInfo( const LocalizationNeighborInfo& rhs ) 00086 { 00087 node_ = rhs.node_; 00088 pos_ = rhs.pos_; 00089 hops_ = rhs.hops_; 00090 distance_ = rhs.distance_; 00091 confidence_ = rhs.confidence_; 00092 00093 is_anchor_ = rhs.is_anchor_; 00094 is_twin_ = rhs.is_twin_; 00095 00096 has_pos_ = rhs.has_pos_; 00097 00098 reference_points_ = rhs.reference_points_; 00099 DistanceMap tmp = rhs.neighbors_; 00100 neighbors_ = tmp; 00101 } 00102 00103 LocalizationNeighborInfo& operator=(const LocalizationNeighborInfo &rhs) 00104 { 00105 node_ = rhs.node_; 00106 pos_ = rhs.pos_; 00107 hops_ = rhs.hops_; 00108 distance_ = rhs.distance_; 00109 confidence_ = rhs.confidence_; 00110 00111 is_anchor_ = rhs.is_anchor_; 00112 is_twin_ = rhs.is_twin_; 00113 00114 has_pos_ = rhs.has_pos_; 00115 00116 reference_points_ = rhs.reference_points_; 00117 DistanceMap tmp = rhs.neighbors_; 00118 neighbors_ = tmp; 00119 00120 return *this; 00121 } 00122 00123 00126 00133 void update_neighbor( node_id_t, Arithmatic ); 00140 void update_neighbors( DistanceMap& ); 00142 00143 00146 00151 void add_ref_node( node_id_t ); 00156 void clear_ref_nodes( void ); 00160 const NodeSet& ref_nodes( void ) 00161 const; 00165 NodeSet& ref_nodes_w( void ); 00167 00168 00171 00175 void set_pos( const Vec<Arithmatic>& ); 00178 void clear_pos(); 00183 void set_hops( int ); 00188 void set_distance( Arithmatic ); 00193 void set_confidence( Arithmatic ); 00198 void set_twin( bool ); 00203 void set_anchor( bool ); 00205 00206 void set_node( node_id_t ); 00207 00208 00211 00216 void convert_hops( Arithmatic ); 00218 00219 00222 00224 node_id_t node( void ); 00227 Vec<Arithmatic>& pos( void ); 00233 int hops( void ); 00236 Arithmatic distance( void ); 00239 Arithmatic confidence( void ); 00241 00242 00245 00247 bool is_anchor( void ); 00252 bool is_valid( void ); 00255 bool is_twin( void ); 00258 bool has_pos( void ); 00262 bool has_distance( void ); 00268 bool is_confident( void ); 00270 00271 00274 00276 DistanceMap& neighbors( void ); 00281 bool has_neighbor( node_id_t ); 00286 bool has_neighbor_distance( node_id_t ); 00293 Arithmatic neighbor_distance( node_id_t ); 00295 00296 00299 00301 NeighborIterator begin_neighbors( void ) 00302 { return neighbors_.begin(); } 00305 NeighborIterator end_neighbors( void ) 00306 { return neighbors_.end(); } 00308 00309 private: 00310 00311 node_id_t node_; 00312 Vec<Arithmatic> pos_; 00313 int hops_; 00314 Arithmatic distance_; 00315 Arithmatic confidence_; 00316 00317 bool is_anchor_; 00318 bool is_twin_; 00319 00320 bool has_pos_; 00321 00322 NodeSet reference_points_; 00323 DistanceMap neighbors_; 00324 }; 00325 // ---------------------------------------------------------------------- 00326 // ---------------------------------------------------------------------- 00327 // ---------------------------------------------------------------------- 00328 template<typename OsModel_P, 00329 typename node_id_t_P, 00330 typename NodeSet_P, 00331 typename DistanceMap_P, 00332 typename Arithmatic_P> 00333 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00334 LocalizationNeighborInfo( node_id_t node, bool is_anchor ) 00335 : node_ ( node ), 00336 hops_ ( UNKNOWN_HOP_CNT ), 00337 distance_ ( UNKNOWN_DISTANCE ), 00338 confidence_ ( 0 ), 00339 is_anchor_ ( is_anchor ), 00340 is_twin_ ( false ), 00341 has_pos_ ( false ) 00342 {} 00343 // ---------------------------------------------------------------------- 00344 template<typename OsModel_P, 00345 typename node_id_t_P, 00346 typename NodeSet_P, 00347 typename DistanceMap_P, 00348 typename Arithmatic_P> 00349 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00350 LocalizationNeighborInfo( ) 00351 : node_ ( 0 ), 00352 hops_ ( UNKNOWN_HOP_CNT ), 00353 distance_ ( UNKNOWN_DISTANCE ), 00354 confidence_ ( 0 ), 00355 is_anchor_ ( false ), 00356 is_twin_ ( false ), 00357 has_pos_ ( false ) 00358 {} 00359 // ---------------------------------------------------------------------- 00360 template<typename OsModel_P, 00361 typename node_id_t_P, 00362 typename NodeSet_P, 00363 typename DistanceMap_P, 00364 typename Arithmatic_P> 00365 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00366 ~LocalizationNeighborInfo() 00367 {} 00368 // ---------------------------------------------------------------------- 00369 template<typename OsModel_P, 00370 typename node_id_t_P, 00371 typename NodeSet_P, 00372 typename DistanceMap_P, 00373 typename Arithmatic_P> 00374 void 00375 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00376 update_neighbor( node_id_t node, Arithmatic distance ) 00377 { 00378 neighbors_[node] = distance; 00379 } 00380 // ---------------------------------------------------------------------- 00381 template<typename OsModel_P, 00382 typename node_id_t_P, 00383 typename NodeSet_P, 00384 typename DistanceMap_P, 00385 typename Arithmatic_P> 00386 void 00387 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00388 update_neighbors( DistanceMap& dm ) 00389 { 00390 for ( NeighborIterator 00391 it = dm.begin(); 00392 it != dm.end(); 00393 ++it ) 00394 neighbors_[it->first] = it->second; 00395 } 00396 // ---------------------------------------------------------------------- 00397 template<typename OsModel_P, 00398 typename node_id_t_P, 00399 typename NodeSet_P, 00400 typename DistanceMap_P, 00401 typename Arithmatic_P> 00402 void 00403 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00404 add_ref_node( node_id_t node ) 00405 { 00406 reference_points_.insert( node ); 00407 } 00408 // ---------------------------------------------------------------------- 00409 template<typename OsModel_P, 00410 typename node_id_t_P, 00411 typename NodeSet_P, 00412 typename DistanceMap_P, 00413 typename Arithmatic_P> 00414 void 00415 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00416 clear_ref_nodes( void ) 00417 { 00418 reference_points_.clear(); 00419 } 00420 // ---------------------------------------------------------------------- 00421 template<typename OsModel_P, 00422 typename node_id_t_P, 00423 typename NodeSet_P, 00424 typename DistanceMap_P, 00425 typename Arithmatic_P> 00426 const NodeSet_P& 00427 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00428 ref_nodes( void ) 00429 const 00430 { 00431 return reference_points_; 00432 } 00433 // ---------------------------------------------------------------------- 00434 template<typename OsModel_P, 00435 typename node_id_t_P, 00436 typename NodeSet_P, 00437 typename DistanceMap_P, 00438 typename Arithmatic_P> 00439 NodeSet_P& 00440 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00441 ref_nodes_w( void ) 00442 { 00443 return reference_points_; 00444 } 00445 // ---------------------------------------------------------------------- 00446 template<typename OsModel_P, 00447 typename node_id_t_P, 00448 typename NodeSet_P, 00449 typename DistanceMap_P, 00450 typename Arithmatic_P> 00451 void 00452 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00453 set_pos( const wiselib::Vec<Arithmatic_P>& pos ) 00454 { 00455 pos_ = pos; 00456 has_pos_ = true; 00457 } 00458 // ---------------------------------------------------------------------- 00459 template<typename OsModel_P, 00460 typename node_id_t_P, 00461 typename NodeSet_P, 00462 typename DistanceMap_P, 00463 typename Arithmatic_P> 00464 void 00465 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00466 clear_pos() 00467 { 00468 pos_ = Vec<Arithmatic_P>(0,0); 00469 has_pos_ = false; 00470 } 00471 // ---------------------------------------------------------------------- 00472 template<typename OsModel_P, 00473 typename node_id_t_P, 00474 typename NodeSet_P, 00475 typename DistanceMap_P, 00476 typename Arithmatic_P> 00477 void 00478 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00479 set_hops( int hops ) 00480 { 00481 hops_ = hops; 00482 } 00483 // ---------------------------------------------------------------------- 00484 template<typename OsModel_P, 00485 typename node_id_t_P, 00486 typename NodeSet_P, 00487 typename DistanceMap_P, 00488 typename Arithmatic_P> 00489 void 00490 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00491 set_distance( Arithmatic distance ) 00492 { 00493 distance_ = distance; 00494 } 00495 // ---------------------------------------------------------------------- 00496 template<typename OsModel_P, 00497 typename node_id_t_P, 00498 typename NodeSet_P, 00499 typename DistanceMap_P, 00500 typename Arithmatic_P> 00501 void 00502 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00503 set_confidence( Arithmatic confidence ) 00504 { 00505 confidence_ = confidence; 00506 } 00507 // ---------------------------------------------------------------------- 00508 template<typename OsModel_P, 00509 typename node_id_t_P, 00510 typename NodeSet_P, 00511 typename DistanceMap_P, 00512 typename Arithmatic_P> 00513 void 00514 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00515 set_twin( bool twin ) 00516 { 00517 is_twin_ = twin; 00518 } 00519 // ---------------------------------------------------------------------- 00520 template<typename OsModel_P, 00521 typename node_id_t_P, 00522 typename NodeSet_P, 00523 typename DistanceMap_P, 00524 typename Arithmatic_P> 00525 void 00526 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00527 set_anchor( bool anchor ) 00528 { 00529 is_anchor_ = anchor; 00530 } 00531 // ---------------------------------------------------------------------- 00532 template<typename OsModel_P, 00533 typename node_id_t_P, 00534 typename NodeSet_P, 00535 typename DistanceMap_P, 00536 typename Arithmatic_P> 00537 void 00538 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00539 set_node( node_id_t node ) 00540 { 00541 node_ = node; 00542 } 00543 // ---------------------------------------------------------------------- 00544 template<typename OsModel_P, 00545 typename node_id_t_P, 00546 typename NodeSet_P, 00547 typename DistanceMap_P, 00548 typename Arithmatic_P> 00549 void 00550 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00551 convert_hops( Arithmatic hop_dist ) 00552 { 00553 if ( hops_ != UNKNOWN_HOP_CNT ) 00554 distance_ = hops_ * hop_dist; 00555 } 00556 // ---------------------------------------------------------------------- 00557 template<typename OsModel_P, 00558 typename node_id_t_P, 00559 typename NodeSet_P, 00560 typename DistanceMap_P, 00561 typename Arithmatic_P> 00562 node_id_t_P 00563 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00564 node( void ) 00565 { 00566 return node_; 00567 } 00568 // ---------------------------------------------------------------------- 00569 template<typename OsModel_P, 00570 typename node_id_t_P, 00571 typename NodeSet_P, 00572 typename DistanceMap_P, 00573 typename Arithmatic_P> 00574 Vec<Arithmatic_P>& 00575 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00576 pos( void ) 00577 { 00578 return pos_; 00579 } 00580 // ---------------------------------------------------------------------- 00581 template<typename OsModel_P, 00582 typename node_id_t_P, 00583 typename NodeSet_P, 00584 typename DistanceMap_P, 00585 typename Arithmatic_P> 00586 int 00587 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00588 hops( void ) 00589 { 00590 return hops_; 00591 } 00592 // ---------------------------------------------------------------------- 00593 template<typename OsModel_P, 00594 typename node_id_t_P, 00595 typename NodeSet_P, 00596 typename DistanceMap_P, 00597 typename Arithmatic_P> 00598 typename LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>::Arithmatic 00599 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00600 distance( void ) 00601 { 00602 return distance_; 00603 } 00604 // ---------------------------------------------------------------------- 00605 template<typename OsModel_P, 00606 typename node_id_t_P, 00607 typename NodeSet_P, 00608 typename DistanceMap_P, 00609 typename Arithmatic_P> 00610 typename LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>::Arithmatic 00611 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00612 confidence( void ) 00613 { 00614 return confidence_; 00615 } 00616 // ---------------------------------------------------------------------- 00617 template<typename OsModel_P, 00618 typename node_id_t_P, 00619 typename NodeSet_P, 00620 typename DistanceMap_P, 00621 typename Arithmatic_P> 00622 bool 00623 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00624 is_anchor( void ) 00625 { 00626 return is_anchor_; 00627 } 00628 // ---------------------------------------------------------------------- 00629 template<typename OsModel_P, 00630 typename node_id_t_P, 00631 typename NodeSet_P, 00632 typename DistanceMap_P, 00633 typename Arithmatic_P> 00634 bool 00635 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00636 is_valid( void ) 00637 { 00638 return ( has_pos() && has_distance() ); 00639 } 00640 // ---------------------------------------------------------------------- 00641 template<typename OsModel_P, 00642 typename node_id_t_P, 00643 typename NodeSet_P, 00644 typename DistanceMap_P, 00645 typename Arithmatic_P> 00646 bool 00647 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00648 is_twin( void ) 00649 { 00650 return is_twin_; 00651 } 00652 // ---------------------------------------------------------------------- 00653 template<typename OsModel_P, 00654 typename node_id_t_P, 00655 typename NodeSet_P, 00656 typename DistanceMap_P, 00657 typename Arithmatic_P> 00658 bool 00659 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00660 has_pos( void ) 00661 { 00662 return has_pos_; 00663 } 00664 // ---------------------------------------------------------------------- 00665 template<typename OsModel_P, 00666 typename node_id_t_P, 00667 typename NodeSet_P, 00668 typename DistanceMap_P, 00669 typename Arithmatic_P> 00670 bool 00671 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00672 has_distance( void ) 00673 { 00674 return distance_ != UNKNOWN_DISTANCE; 00675 } 00676 // ---------------------------------------------------------------------- 00677 template<typename OsModel_P, 00678 typename node_id_t_P, 00679 typename NodeSet_P, 00680 typename DistanceMap_P, 00681 typename Arithmatic_P> 00682 bool 00683 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00684 is_confident( void ) 00685 { 00686 return confidence() != 0 && !is_twin() && has_pos() && has_distance(); 00687 } 00688 // ---------------------------------------------------------------------- 00689 template<typename OsModel_P, 00690 typename node_id_t_P, 00691 typename NodeSet_P, 00692 typename DistanceMap_P, 00693 typename Arithmatic_P> 00694 DistanceMap_P& 00695 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P,Arithmatic_P>:: 00696 neighbors( void ) 00697 { 00698 return neighbors_; 00699 } 00700 // ---------------------------------------------------------------------- 00701 template<typename OsModel_P, 00702 typename node_id_t_P, 00703 typename NodeSet_P, 00704 typename DistanceMap_P, 00705 typename Arithmatic_P> 00706 bool 00707 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00708 has_neighbor( node_id_t node ) 00709 { 00710 return neighbors_.find( node ) != neighbors_.end(); 00711 } 00712 // ---------------------------------------------------------------------- 00713 template<typename OsModel_P, 00714 typename node_id_t_P, 00715 typename NodeSet_P, 00716 typename DistanceMap_P, 00717 typename Arithmatic_P> 00718 bool 00719 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00720 has_neighbor_distance( node_id_t node ) 00721 { 00722 return neighbor_distance( node ) != UNKNOWN_DISTANCE; 00723 } 00724 // ---------------------------------------------------------------------- 00725 template<typename OsModel_P, 00726 typename node_id_t_P, 00727 typename NodeSet_P, 00728 typename DistanceMap_P, 00729 typename Arithmatic_P> 00730 typename LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>::Arithmatic 00731 LocalizationNeighborInfo<OsModel_P, node_id_t_P, NodeSet_P, DistanceMap_P, Arithmatic_P>:: 00732 neighbor_distance( node_id_t node ) 00733 { 00734 NeighborIterator it = neighbors_.find( node ); 00735 00736 if ( it != neighbors_.end() ) 00737 return it->second; 00738 else 00739 return UNKNOWN_DISTANCE; 00740 } 00741 00742 }// namespace wiselib 00743 #endif
