triangulation.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <math.h>
#include <time.h>
#include "const.h"
#include "toolbox.h"

Include dependency graph for triangulation.c:

Go to the source code of this file.

Macros
#define	AUTHOR   "Vincent Pierlot"
#define	DEFAULT_PROGNAME   "triangulation"
#define	EMAIL   "vpierlot@gmail.com"
#define	VERSION   "0.7"

Functions
int	main (int argc, char *argv[])
int	test0 (tfloat xr, tfloat yr, tfloat or, tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3)
int	test1 (tfloat alpha1, tfloat alpha2, tfloat alpha3, tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3, int m)
int	test2 (tfloat xr, tfloat yr, tfloat or, tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3, int m)
int	test3 (tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3, int m, tfloat xstart, tfloat xend, tfloat ystart, tfloat yend, unsigned int n)
int	test4 (tfloat xr, tfloat yr, tfloat or, tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3, int m, tfloat sigmaAngle, tfloat sigmaBeacon, unsigned int n, int O)
int	test5 (tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3, int m, tfloat sigmaAngle, tfloat sigmaBeacon, unsigned int n, tfloat xstart, tfloat xend, tfloat ystart, tfloat yend, tfloat step, unsigned int map, int O, double thresh)
void	usage (const char *progName)
	Print usage informations. More...

Detailed Description

Author

Vincent Pierlot [ vpier.nosp@m.lot@.nosp@m.gmail.nosp@m..com ]

Date

April 2013

Version

: 0.7

Three Object Triangulation algorithms implementation, simulation and benchmarking compile with: make run with: ./triangulation [options]

Definition in file triangulation.c.

Function Documentation

void usage

(

const char *

progName

)

Print usage informations.

Print usage informations, the only argument is <progName> and is typically argv[0]

Parameters

progName

Definition at line 49 of file triangulation.c.

References get_angles(), initRand(), saveMapAndScale(), triangulationGDOP(), triangulationMethod(), and triangulationSensitivity().

{
  fprintf(stderr ,
          DEFAULT_PROGNAME " " VERSION " by " AUTHOR " [" EMAIL "]\n"
          "Three Object Triangulation algorithms implementation, simulation and benchmarking.\n"
          "http://www2.ulg.ac.be/telecom/triangulation/\n"
          "http://hdl.handle.net/2268/89435\n"
          "Usage: %s [options]\n"
          "[options]:\n"
          "  -t  int    Test to execute (default=5):\n"
          "             0: gets angles from robot pose (x;y;o). Displays angles (a;b;c).\n"
          "             1: triangulates from measured angles (a;b;c). Displays robot pose (x;y;o).\n"
          "             2: gets angles from robot pose (x;y;o) and triangulates with measured angles. Displays angles and pose.\n"
          "             3: runs triangulation method n times from random positions in the grid [-x,X]*[y,Y]. Displays execution time.\n"
          "             4: runs triangulation sensitivity analysis from robot position (x;y). (see -O for output).\n"
          "             5: runs triangulation sensitivity analysis for each point in the grid [-x,X]*[y,Y]. (see -O for output).\n"
          "                Writes PGM images \"map.pgm\" and \"scale.pgm\" in current directory. Displays step, min and max values.\n"
          "  -m  int    Triangulation method to use (default=1). For all tests.\n"
          "              1: Pierlot (ToTal)  2: Esteves          3: FontLlagunes (T)  4: Zalama\n"
          "              5: McGillem (T)     6: McGillem (G)     7: Easton            8: Hmam\n"
          "              9: Cohen (T)       10: Cohen (G)       11: Cohen (G)*       12: Tsukiyama\n"
          "             13: Tsukiyama*      14: Madsen          15: Lukic            16: Lukic*\n"
          "             17: Tienstra        18: Ligas           19: FontLlagunes (G) 20: Kaestner\n"
          "             21: Collins         22: Cassini\n"
          "             (*) original method from the paper (typically slower than my implementation)\n"
          "             (G) Geometric solution\n"
          "             (T) Trigonometric solution\n"
          "  -x  float  X robot position. For tests 0, 2, 4. (default=0.0)\n"
          "             X min value of test grid. For tests 3, 5. (default=-2.0)\n"
          "  -y  float  Y robot position. For tests 0, 2, 4. (default=0.0)\n"
          "             Y min value of test grid. For tests 3, 5. (default=-2.0)\n"
          "  -o  float  Robot orientation relative to X axis [deg]. For tests 0, 2, 4. (default=0.0)\n"
          "  -a  float  alpha1 angle [deg]. For test 1. (default=+90)\n"
          "  -b  float  alpha2 angle [deg]. For test 1. (default=-150)\n"
          "  -c  float  alpha3 angle [deg]. For test 1. (default=-30)\n"
          "  -1  float  X1 beacon1 position. For all tests. (default=0.0)\n"
          "  -2  float  Y1 beacon1 position. For all tests. (default=+1.0)\n"
          "  -3  float  X2 beacon2 position. For all tests. (default=-0.866)\n"
          "  -4  float  Y2 beacon2 position. For all tests. (default=-0.5)\n"
          "  -5  float  X3 beacon3 position. For all tests. (default=+0.866)\n"
          "  -6  float  Y3 beacon3 position. For all tests. (default=-0.5)\n"
          "  -O  int    Output of the sensitivity analysis. For tests 4, 5. (default=1)\n"
          "             1: std deviation of position error, 2: std deviation of orientation error, 3: return value of method.\n"
          "  -X  float  X max value of test grid. For tests 3, 5. (default=+2.0)\n"
          "  -Y  float  Y max value of test grid. For tests 3, 5. (default=+2.0)\n"
          "  -p  float  Discretization step of the test grid. For test 5. (default=0.02)\n"
          "  -A  float  Standard deviation of the gaussian noise applied to angles in [deg]. For tests 4, 5. (default=0.1)\n"
          "  -B  float  Standard deviation of the gaussian noise applied to beacons coordinates. For tests 4, 5. (default=0.0)\n"
          "  -n  int    Number of tests for the execution time and the sensitivity analysis. For tests 3, 4, 5. (default=100)\n"
          "  -M  int    Map used to display results from the sensitivity analysis. For test 5. (default=2)\n"
          "             0: Linear.\n"
          "             1: Logarithmic.\n"
          "             2: Histogram equalized.\n"
          "             3: Linear after removing outliers (1 percent of the highest values).\n"
          "             4: Logarithmic after removing outliers (1 percent of the highest values).\n"
          "  -T  float  Threshold for the sensitivity analysis output (must be >= 0 to be active). For test 5. (default=-1)\n"
          "  -h         Displays this help and exit.\n"
          "\n"
          , progName ) ;
  exit( -1 ) ;
}

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