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<div class="title">trilateration.h</div> </div>
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<a href="trilateration_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Copyright (C) 2020 Zakaria Kasmi <zkasmi@inf.fu-berlin.de></span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> * 2020 Freie Universität Berlin</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * This file is subject to the terms and conditions of the GNU Lesser General</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Public License v2.1. See the file LICENSE in the top level directory for more</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * details.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>  </div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#ifndef TRILATERATION_H_</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#define TRILATERATION_H_</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include <inttypes.h></span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  </div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#include "<a class="code" href="matrix_8h.html">matrix.h</a>"</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#a95fc45efcb10019be21704539eeedefb">trilateration1</a>(uint8_t anchor_num,</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> anchor_pos_matrix[anchor_num][3],</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> pseudo_inv_matrix[4][anchor_num],</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> homog_sol_arr[],</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> dist_arr[],</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> solution_x1[],</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> solution_x2[]</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  );</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#adf749802a4d86c2a97a6bac50d17bfea">trilateration2</a>(uint8_t anchor_num,</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> anchor_pos_matrix[anchor_num][3],</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> dist_arr[],</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> solution_x1[],</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> solution_x2[]);</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#a3c9dfccb08c7e4cdb5533cd6bc8b5832">trilateration_get_A_matrix</a>(uint8_t m, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> anchor_pos_matrix[m][3],</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> A_matrix[m][4]);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#abe0c5c3a77d41a6a94aceb8069ec2082">trilateration_get_b_vector</a>(uint8_t anchor_num, <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> dist_arr[],</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> anchor_pos_matrix[anchor_num][3],</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> b_vec[]);</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#aadf622c7ec43dce57988a9aef1533758">trilateration_preprocessed_get_particular_solution</a>(</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> pseudo_inv_matrix[4][3],</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> b_arr[],</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> particular_solu_arr[]);</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#a76695d4831cf7c08b468fe56f117b358">trilateration_get_particular_solution</a>(uint8_t m, uint8_t n,</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> anchor_pos_mat[m][n],</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> dist_arr[], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> Xp[]);</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> uint8_t <a class="code" href="trilateration_8h.html#ab5f06e68df75b4708d722c268932578c">trilateration_get_rank_and_homogeneous_solution</a>(uint8_t anchor_num,</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> anchor_pos_matrix[anchor_num][3],</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> Xh[]);</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#a821d668be2cee0fa1881c05ab99e05fe">trilateration_get_quadratic_equation_solution</a>(</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> particular_solu_arr[],</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> homogeneous_solution_arr[],</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> solution_x1[],</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> solution_x2[]);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">void</span> <a class="code" href="trilateration_8h.html#a4270371ead754327c478d19d57bfafba">trilateration_solve_linear_equation</a>(uint8_t line_num, uint8_t col_num,</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> pseudo_inv_matrix[line_num][col_num],</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> b_vec[], <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> sol_vec[]);</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="preprocessor">#endif </span><span class="comment">/* TRILATERATION_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="atrilateration_8h_html_a3c9dfccb08c7e4cdb5533cd6bc8b5832"><div class="ttname"><a href="trilateration_8h.html#a3c9dfccb08c7e4cdb5533cd6bc8b5832">trilateration_get_A_matrix</a></div><div class="ttdeci">void trilateration_get_A_matrix(uint8_t m, matrix_t anchor_pos_matrix[m][3], matrix_t A_matrix[m][4])</div><div class="ttdoc">Computes the matrix of the equation system: .</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00256">trilateration.c:256</a></div></div>
<div class="ttc" id="atrilateration_8h_html_abe0c5c3a77d41a6a94aceb8069ec2082"><div class="ttname"><a href="trilateration_8h.html#abe0c5c3a77d41a6a94aceb8069ec2082">trilateration_get_b_vector</a></div><div class="ttdeci">void trilateration_get_b_vector(uint8_t anchor_num, matrix_t dist_arr[], matrix_t anchor_pos_matrix[anchor_num][3], matrix_t b_vec[])</div><div class="ttdoc">Computes the vector of the equation system: .</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00275">trilateration.c:275</a></div></div>
<div class="ttc" id="atrilateration_8h_html_a821d668be2cee0fa1881c05ab99e05fe"><div class="ttname"><a href="trilateration_8h.html#a821d668be2cee0fa1881c05ab99e05fe">trilateration_get_quadratic_equation_solution</a></div><div class="ttdeci">void trilateration_get_quadratic_equation_solution(matrix_t particular_solu_arr[], matrix_t homogeneous_solution_arr[], matrix_t solution_x1[], matrix_t solution_x2[])</div><div class="ttdoc">Solve a quadratic equation.</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00193">trilateration.c:193</a></div></div>
<div class="ttc" id="amatrix_8h_html"><div class="ttname"><a href="matrix_8h.html">matrix.h</a></div><div class="ttdoc">Matrix computations.</div></div>
<div class="ttc" id="atrilateration_8h_html_aadf622c7ec43dce57988a9aef1533758"><div class="ttname"><a href="trilateration_8h.html#aadf622c7ec43dce57988a9aef1533758">trilateration_preprocessed_get_particular_solution</a></div><div class="ttdeci">void trilateration_preprocessed_get_particular_solution(matrix_t pseudo_inv_matrix[4][3], matrix_t b_arr[], matrix_t particular_solu_arr[])</div><div class="ttdoc">Compute the particular solution, which is the general solution of .</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00121">trilateration.c:121</a></div></div>
<div class="ttc" id="atrilateration_8h_html_a4270371ead754327c478d19d57bfafba"><div class="ttname"><a href="trilateration_8h.html#a4270371ead754327c478d19d57bfafba">trilateration_solve_linear_equation</a></div><div class="ttdeci">void trilateration_solve_linear_equation(uint8_t line_num, uint8_t col_num, matrix_t pseudo_inv_matrix[line_num][col_num], matrix_t b_vec[], matrix_t sol_vec[])</div><div class="ttdoc">Solve a linear equation.</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00291">trilateration.c:291</a></div></div>
<div class="ttc" id="atrilateration_8h_html_ab5f06e68df75b4708d722c268932578c"><div class="ttname"><a href="trilateration_8h.html#ab5f06e68df75b4708d722c268932578c">trilateration_get_rank_and_homogeneous_solution</a></div><div class="ttdeci">uint8_t trilateration_get_rank_and_homogeneous_solution(uint8_t anchor_num, matrix_t anchor_pos_matrix[anchor_num][3], matrix_t Xh[])</div><div class="ttdoc">Compute the rank and the solution of the homogeneous system .</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00149">trilateration.c:149</a></div></div>
<div class="ttc" id="atrilateration_8h_html_adf749802a4d86c2a97a6bac50d17bfea"><div class="ttname"><a href="trilateration_8h.html#adf749802a4d86c2a97a6bac50d17bfea">trilateration2</a></div><div class="ttdeci">void trilateration2(uint8_t anchor_num, matrix_t anchor_pos_matrix[anchor_num][3], matrix_t dist_arr[], matrix_t solution_x1[], matrix_t solution_x2[])</div><div class="ttdoc">Implement the trilateration algorithm.</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00069">trilateration.c:69</a></div></div>
<div class="ttc" id="atrilateration_8h_html_a76695d4831cf7c08b468fe56f117b358"><div class="ttname"><a href="trilateration_8h.html#a76695d4831cf7c08b468fe56f117b358">trilateration_get_particular_solution</a></div><div class="ttdeci">void trilateration_get_particular_solution(uint8_t m, uint8_t n, matrix_t anchor_pos_mat[m][n], matrix_t dist_arr[], matrix_t Xp[])</div><div class="ttdoc">Compute the particular solution, which is the general solution of .</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00179">trilateration.c:179</a></div></div>
<div class="ttc" id="amatrix_8h_html_af38ac6b76d645fea9abd6caeb4d9dd31"><div class="ttname"><a href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a></div><div class="ttdeci">#define matrix_t</div><div class="ttdoc">Define the data type of the matrix elements.</div><div class="ttdef"><b>Definition:</b> <a href="matrix_8h_source.html#l00038">matrix.h:38</a></div></div>
<div class="ttc" id="atrilateration_8h_html_a95fc45efcb10019be21704539eeedefb"><div class="ttname"><a href="trilateration_8h.html#a95fc45efcb10019be21704539eeedefb">trilateration1</a></div><div class="ttdeci">void trilateration1(uint8_t anchor_num, matrix_t anchor_pos_matrix[anchor_num][3], matrix_t pseudo_inv_matrix[4][anchor_num], matrix_t homog_sol_arr[], matrix_t dist_arr[], matrix_t solution_x1[], matrix_t solution_x2[])</div><div class="ttdoc">Implement the trilateration algorithm using the pre-processed pseudo-inverse matrix.</div><div class="ttdef"><b>Definition:</b> <a href="trilateration_8c_source.html#l00032">trilateration.c:32</a></div></div>
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