algo/loc_tool.h

#ifndef __loc_tool_hpp__
#define __loc_tool_hpp__
#include "loc_message.h"

#define DWT_TIME_UNITS (1.0/499.2E6/128.0)
#define SPEED_OF_LIGHT (299702547.0)

struct ant;
struct message_locinfo;

struct loc_tool
{
	virtual std::vector<point> calc_location(std::vector<loc_message>&locm)=0;
	virtual int index()
	{
		return -1;
	}
	virtual ~loc_tool(){}
};

struct loc_tool_tdoa_3_base:loc_tool
{
	virtual std::vector<point> calc_location(std::vector<loc_message>& locm);
	virtual int index();
};

struct loc_tool_tdoa_2_base:loc_tool
{
	virtual std::vector<point> calc_location(std::vector<loc_message>& locm);
	virtual int index();

    bool is_in_triangle(const std::vector<point>& vps, const point& p);
    double get_triangle_area(const point& p0, const point& p1, const point&p2);
};

struct loc_tool_tdoa_1_base:loc_tool
{
	virtual std::vector<point> calc_location(std::vector<loc_message>& locm);
	virtual int index();
};

struct loc_tool_pdoa_1_base:loc_tool
{
    virtual std::vector<point> calc_location(std::vector<loc_message>& locm);
    virtual int index();
};

struct loc_tool_pdoa_2_base:loc_tool
{
    virtual std::vector<point> calc_location(std::vector<loc_message>& locm);
    virtual int index();

    bool cal_position_pdoa(std::vector<pdoa_msg_ptr>& vps, const pdoa_param& pa);
};

struct loc_tool_pdoa_3_base:loc_tool
{
    virtual std::vector<point> calc_location(std::vector<loc_message>& locm);
    virtual int index();
};

struct loc_tool_tof_3_base:loc_tool
{
	virtual std::vector<point> calc_location(std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_tof_2_base:loc_tool
{
	virtual std::vector<point> calc_location(std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_tof_1_base:loc_tool
{
	virtual std::vector<point> calc_location(std::vector<loc_message>&locm);
	virtual int index();
};

struct loc_tool_main:loc_tool
{
	static loc_tool* g_tool[9];     // 6
	loc_tool_main();
	~loc_tool_main();
	static void set_tool(loc_tool*tool);
	std::vector<point> calc_location(std::vector<loc_message>&locm);
};

#endif