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<div class="title">pos_algos_common_test.c</div> </div>
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<a href="pos__algos__common__test_8c.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">#include <stdio.h></span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  </div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include "<a class="code" href="DOP_8h.html">DOP.h</a>"</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include "<a class="code" href="matrix_8h.html">matrix.h</a>"</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor">#include "<a class="code" href="trilateration_8h.html">trilateration.h</a>"</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  </div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="line" href="pos__algos__common__test_8c.html#ad7c3809ba4d66f929854a4127784be8c"> 30</a></span> <span class="keywordtype">void</span> <a class="code" href="pos__algos__common__test_8c.html#ad7c3809ba4d66f929854a4127784be8c">pos_algos_common_test</a>(<span class="keywordtype">void</span>)</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> {</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <a class="code" href="matrix_8h.html#af38ac6b76d645fea9abd6caeb4d9dd31">matrix_t</a> ref_pos_matrix[4][3] = { { 0, 0, 1.67 }, <span class="comment">// P1</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  { 4.5, 0, 0.75 }, <span class="comment">// P2</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  { 4.5, 4.45, 0.75 }, <span class="comment">// P3</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  { 0, 4.92, 0.86 } <span class="comment">// P4</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  };</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  uint8_t m = 4;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="keywordtype">double</span> A_matrix[m][4];</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="keywordtype">double</span> true_pos[] = { 1, 1, 0 };</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keywordtype">double</span> pdop_val = <a class="code" href="DOP_8c.html#a8b878ff6d73e8da6fbc3ae40f01b1ce4">get_PDOP</a>(m, ref_pos_matrix, true_pos);</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  printf(<span class="stringliteral">"pdop_val = %.7f\n"</span>, pdop_val);</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  <a class="code" href="trilateration_8h.html#a3c9dfccb08c7e4cdb5533cd6bc8b5832">trilateration_get_A_matrix</a>(m, ref_pos_matrix, A_matrix);</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  printf(<span class="stringliteral">"A_matrix = "</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <a class="code" href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a>(m, 4, A_matrix, 3, 7);</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  puts(<span class="stringliteral">""</span>);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> }</div>
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<div class="ttc" id="atrilateration_8h_html"><div class="ttname"><a href="trilateration_8h.html">trilateration.h</a></div><div class="ttdoc">Implement the trilateration algorithm.</div></div>
<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="aDOP_8c_html_a8b878ff6d73e8da6fbc3ae40f01b1ce4"><div class="ttname"><a href="DOP_8c.html#a8b878ff6d73e8da6fbc3ae40f01b1ce4">get_PDOP</a></div><div class="ttdeci">matrix_t get_PDOP(uint8_t m, matrix_t ref_Matrix[m][3], matrix_t true_pos[m])</div><div class="ttdoc">Compute the Position Dilution of Precision (PDOP).</div><div class="ttdef"><b>Definition:</b> <a href="DOP_8c_source.html#l00030">DOP.c:30</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="amatrix_8h_html_a82f374a9b8b215f0ef53d35401eae524"><div class="ttname"><a href="matrix_8h.html#a82f374a9b8b215f0ef53d35401eae524">matrix_flex_print</a></div><div class="ttdeci">void matrix_flex_print(uint8_t m, uint8_t n, matrix_t matrix[m][n], uint8_t before_dec, uint8_t after_dec)</div><div class="ttdoc">Display the values of the matrix elements.</div><div class="ttdef"><b>Definition:</b> <a href="matrix_8c_source.html#l00220">matrix.c:220</a></div></div>
<div class="ttc" id="apos__algos__common__test_8c_html_ad7c3809ba4d66f929854a4127784be8c"><div class="ttname"><a href="pos__algos__common__test_8c.html#ad7c3809ba4d66f929854a4127784be8c">pos_algos_common_test</a></div><div class="ttdeci">void pos_algos_common_test(void)</div><div class="ttdoc">Example of common localization algorithms.</div><div class="ttdef"><b>Definition:</b> <a href="pos__algos__common__test_8c_source.html#l00030">pos_algos_common_test.c:30</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="aDOP_8h_html"><div class="ttname"><a href="DOP_8h.html">DOP.h</a></div><div class="ttdoc">Compute the Position Dilution of Precision (PDOP).</div></div>
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