library

navigine::navigation_core

Classes

	Name
class	navigine::navigation_core::Barometer
class	navigine::navigation_core::ComplementaryFilter
class	navigine::navigation_core::DeviceProperties
struct	navigine::navigation_core::GpsPosition
class	navigine::navigation_core::LevelEstimator
class	navigine::navigation_core::LevelEstimatorRadiomap
class	navigine::navigation_core::LevelEstimatorTransmitters
class	navigine::navigation_core::LevelHistory
class	navigine::navigation_core::Likelihood
class	navigine::navigation_core::LikelihoodRadiomap
struct	navigine::navigation_core::Magnitude
class	navigine::navigation_core::MeasurementsPreprocessor
class	navigine::navigation_core::NavigationClientImpl
class	navigine::navigation_core::NavigationTimeSmoother
struct	navigine::navigation_core::Orientation
class	navigine::navigation_core::Pedometer
class	navigine::navigation_core::PolynomialFit
struct	navigine::navigation_core::Position
class	navigine::navigation_core::PositionEstimator
class	navigine::navigation_core::PositionEstimatorKnn
class	navigine::navigation_core::PositionEstimatorOutdoor
class	navigine::navigation_core::PositionEstimatorZone
class	navigine::navigation_core::PositionPostprocessor
class	navigine::navigation_core::PositionSmoother
class	navigine::navigation_core::PositionSmootherAB
class	navigine::navigation_core::PositionSmootherLstsq
class	navigine::navigation_core::Quaternion
class	navigine::navigation_core::RadioMeasurementBuffer
struct	navigine::navigation_core::RefPointsTriangle
class	navigine::navigation_core::SensorFusion
class	navigine::navigation_core::SigmaFilter
struct	navigine::navigation_core::Step
class	navigine::navigation_core::Triangle
class	navigine::navigation_core::TriangleEdge
struct	navigine::navigation_core::TriangleVertex
struct	navigine::navigation_core::TriangleVerticesWeights
class	navigine::navigation_core::Trilateration

Types

	Name
enum class	MeasurementLikelihoodModel { DISTANCE_V1, DISTANCE_V2, RSSI, RADIOMAP}
using MeasurementDataWithTimeStamp< SensorMeasurementData >	SensorMeasurement
using MeasurementDataWithTimeStamp< NmeaMeasurementData >	NmeaMeasurement
using MeasurementDataWithTimeStamp< RadioMeasurementData >	RadioMeasurement

Functions

	Name
double	SegmentPointDist(const XYPoint & p1, const XYPoint & p2, const XYPoint & p)
double	GetDist(const LocationPoint & A, const LocationPoint & B)
double	GetDist(double ax, double ay, double bx, double by)
double	GetDist(const LocationPoint & A, const LocationPoint & B, const LocationPoint & C)
double	GetArea(const LocationPoint & A, const LocationPoint & B, const LocationPoint & C)
double	GetArea(double ax, double ay, double bx, double by, double cx, double cy)
double	Determinant(double a11, double a12, double a21, double a22)
double	Determinant(double a11, double a12, double a13, double a21, double a22, double a23, double a31, double a32, double a33)
double	GetProjection(double ax, double ay, double bx, double by, double ox, double oy, double px, double py)
double	GetIntersection(double px, double py, double qx, double qy, double ax, double ay, double bx, double by, double x, double y)
bool	CheckIntersection(double ax, double ay, double bx, double by, double cx, double cy, double dx, double dy)
bool	PointOnLine(double x, double y, double x1, double y1, double x2, double y2)
bool	XRayIntersectsLine(double x, double y, double x1, double y1, double x2, double y2)
std::map< LevelId, std::vector< RefPointsTriangle > >	triangulate(const std::shared_ptr< LevelCollector > & levelCollector) triangulate my paprams lzvnejvljbled
std::map< LevelId, std::multimap< TransmitterId, std::pair< ReferencePointId, SignalStatistics > > >	getLevelsRadiomaps(const std::shared_ptr< LevelCollector > & levelCollector)
std::map< LevelId, std::set< TransmitterId > >	getLevelReferenceTransmittersMap(const std::shared_ptr< LevelCollector > & levelCollector)
std::map< ReferencePointId, double >	calcRpWeightsKnn(const std::multimap< TransmitterId, std::pair< ReferencePointId, SignalStatistics > > & radiomap, const RadioMeasurementsData & msr, bool useDiffMode =true)
XYPoint	calcPositionInTriangle(const std::vector< RefPointsTriangle > & triangles, const Radiomap & rps, const std::map< ReferencePointId, double > & rpToWeight)
XYPoint	calcKHeaviestRefPointsAverage(const Radiomap & radiomap, const std::map< ReferencePointId, double > & rpToWeight, size_t k)
RadioMeasurementsData	getWhitelistedMeasurements(const std::set< TransmitterId > & wl, const RadioMeasurementsData msrs)
template <typename KeyType ,typename ValType > ValType	func_helper(const std::map< KeyType, ValType > & map, KeyType key, ValType defVal)
template <typename ... Keys,typename ValType ,typename KeyType > auto	getValueForEachKey(const std::map< KeyType, ValType > & map, ValType defVal, Keys... keys)
bool	isParticleInIntersectionArea(const Level & level, const RadioMeasurementsData & radioMsr, double x, double y)
std::shared_ptr< Likelihood >	createLikelihoodLogModel(const std::shared_ptr< LevelCollector > & levelCollector, const NavigationSettings & navProps, MeasurementLikelihoodModel likelihoodModel)
void	solveLinearSystem(const std::vector< double > & A, const std::vector< double > & b, std::vector< double > & x, const int n)
double	to_minus_Pi_Pi(double x)
Quaternion	operator+(Quaternion l_q, const Quaternion & r_q)
Quaternion	operator-(Quaternion l_q, const Quaternion & r_q)
Quaternion	operator*(Quaternion l_q, const double & scale)
Quaternion	operator*(const double & scale, Quaternion l_q)
Quaternion	operator*(Quaternion q1, const Quaternion & q2)
std::vector< Triangle >	TriangulateVertices(const std::vector< TriangleVertex > & vertices, double maxedge)

Attributes

	Name
const double	GEOMETRY_DOUBLE_EPSILON
constexpr const double	MIN_WEIGHT_SUM_DOUBLE_EPSILON
const int	ERROR_NO_SOLUTION
const int	MISSING_STRING_CONFIG
const int	MISSING_LEVELS
const int	NO_PARAMETERS_IN_JSON_FILE
const int	ERROR_OPEN_FILE
const int	INVALID_LOC_ID_IN_JSON_FILE
const int	INVALID_PARAMETER_IN_JSON_FILE

Types Documentation

enum MeasurementLikelihoodModel

Enumerator	Value	Description
DISTANCE_V1
DISTANCE_V2
RSSI
RADIOMAP

using SensorMeasurement

using navigine::navigation_core::SensorMeasurement = typedef MeasurementDataWithTimeStamp<SensorMeasurementData>;

using NmeaMeasurement

using navigine::navigation_core::NmeaMeasurement = typedef MeasurementDataWithTimeStamp<NmeaMeasurementData>;

using RadioMeasurement

using navigine::navigation_core::RadioMeasurement = typedef MeasurementDataWithTimeStamp<RadioMeasurementData>;

Functions Documentation

function SegmentPointDist

double SegmentPointDist(
    const XYPoint & p1,
    const XYPoint & p2,
    const XYPoint & p
)

function GetDist

double GetDist(
    const LocationPoint & A,
    const LocationPoint & B
)

function GetDist

double GetDist(
    double ax,
    double ay,
    double bx,
    double by
)

function GetDist

double GetDist(
    const LocationPoint & A,
    const LocationPoint & B,
    const LocationPoint & C
)

function GetArea

double GetArea(
    const LocationPoint & A,
    const LocationPoint & B,
    const LocationPoint & C
)

function GetArea

double GetArea(
    double ax,
    double ay,
    double bx,
    double by,
    double cx,
    double cy
)

function Determinant

double Determinant(
    double a11,
    double a12,
    double a21,
    double a22
)

function Determinant

double Determinant(
    double a11,
    double a12,
    double a13,
    double a21,
    double a22,
    double a23,
    double a31,
    double a32,
    double a33
)

function GetProjection

double GetProjection(
    double ax,
    double ay,
    double bx,
    double by,
    double ox,
    double oy,
    double * px,
    double * py
)

function GetIntersection

double GetIntersection(
    double px,
    double py,
    double qx,
    double qy,
    double ax,
    double ay,
    double bx,
    double by,
    double * x,
    double * y
)

function CheckIntersection

bool CheckIntersection(
    double ax,
    double ay,
    double bx,
    double by,
    double cx,
    double cy,
    double dx,
    double dy
)

function PointOnLine

bool PointOnLine(
    double x,
    double y,
    double x1,
    double y1,
    double x2,
    double y2
)

function XRayIntersectsLine

bool XRayIntersectsLine(
    double x,
    double y,
    double x1,
    double y1,
    double x2,
    double y2
)

function triangulate

std::map< LevelId, std::vector< RefPointsTriangle > > triangulate(
    const std::shared_ptr< LevelCollector > & levelCollector
)

triangulate my paprams lzvnejvljbled

Parameters:

• levelCollector param odsoubod

Return: std::map<LevelId, std::vector>

function getLevelsRadiomaps

std::map< LevelId, std::multimap< TransmitterId, std::pair< ReferencePointId, SignalStatistics > > > getLevelsRadiomaps(
    const std::shared_ptr< LevelCollector > & levelCollector
)

function getLevelReferenceTransmittersMap

std::map< LevelId, std::set< TransmitterId > > getLevelReferenceTransmittersMap(
    const std::shared_ptr< LevelCollector > & levelCollector
)

function calcRpWeightsKnn

std::map< ReferencePointId, double > calcRpWeightsKnn(
    const std::multimap< TransmitterId, std::pair< ReferencePointId, SignalStatistics > > & radiomap,
    const RadioMeasurementsData & msr,
    bool useDiffMode =true
)

function calcPositionInTriangle

XYPoint calcPositionInTriangle(
    const std::vector< RefPointsTriangle > & triangles,
    const Radiomap & rps,
    const std::map< ReferencePointId, double > & rpToWeight
)

function calcKHeaviestRefPointsAverage

XYPoint calcKHeaviestRefPointsAverage(
    const Radiomap & radiomap,
    const std::map< ReferencePointId, double > & rpToWeight,
    size_t k
)

function getWhitelistedMeasurements

RadioMeasurementsData getWhitelistedMeasurements(
    const std::set< TransmitterId > & wl,
    const RadioMeasurementsData msrs
)

function func_helper

template <typename KeyType ,
typename ValType >
ValType func_helper(
    const std::map< KeyType, ValType > & map,
    KeyType key,
    ValType defVal
)

function getValueForEachKey

template <typename ... Keys,
typename ValType ,
typename KeyType >
auto getValueForEachKey(
    const std::map< KeyType, ValType > & map,
    ValType defVal,
    Keys... keys
)

function isParticleInIntersectionArea

bool isParticleInIntersectionArea(
    const Level & level,
    const RadioMeasurementsData & radioMsr,
    double x,
    double y
)

function createLikelihoodLogModel

std::shared_ptr< Likelihood > createLikelihoodLogModel(
    const std::shared_ptr< LevelCollector > & levelCollector,
    const NavigationSettings & navProps,
    MeasurementLikelihoodModel likelihoodModel
)

function solveLinearSystem

void solveLinearSystem(
    const std::vector< double > & A,
    const std::vector< double > & b,
    std::vector< double > & x,
    const int n
)

function to_minus_Pi_Pi

double to_minus_Pi_Pi(
    double x
)

function operator+

Quaternion operator+(
    Quaternion l_q,
    const Quaternion & r_q
)

function operator-

Quaternion operator-(
    Quaternion l_q,
    const Quaternion & r_q
)

function operator*

Quaternion operator*(
    Quaternion l_q,
    const double & scale
)

function operator*

Quaternion operator*(
    const double & scale,
    Quaternion l_q
)

function operator*

Quaternion operator*(
    Quaternion q1,
    const Quaternion & q2
)

function TriangulateVertices

std::vector< Triangle > TriangulateVertices(
    const std::vector< TriangleVertex > & vertices,
    double maxedge
)

Attributes Documentation

variable GEOMETRY_DOUBLE_EPSILON

static const double GEOMETRY_DOUBLE_EPSILON = 1e-8;

variable MIN_WEIGHT_SUM_DOUBLE_EPSILON

constexpr const double MIN_WEIGHT_SUM_DOUBLE_EPSILON = 1e-8;

variable ERROR_NO_SOLUTION

static const int ERROR_NO_SOLUTION = 4;

variable MISSING_STRING_CONFIG

static const int MISSING_STRING_CONFIG = 5;

variable MISSING_LEVELS

static const int MISSING_LEVELS = 6;

variable NO_PARAMETERS_IN_JSON_FILE

static const int NO_PARAMETERS_IN_JSON_FILE = 21;

variable ERROR_OPEN_FILE

static const int ERROR_OPEN_FILE = 25;

variable INVALID_LOC_ID_IN_JSON_FILE

static const int INVALID_LOC_ID_IN_JSON_FILE = 26;

variable INVALID_PARAMETER_IN_JSON_FILE

static const int INVALID_PARAMETER_IN_JSON_FILE = 27;

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Updated on 2021-10-12 at 18:34:40 +0300