C library of triangulation algorithms (for the problems of mobile robot positioning or resection)
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Go to the source code of this file.
Functions | |
tfloat | triangulationCohenGeometric (tfloat *x, tfloat *y, tfloat alpha1, tfloat alpha2, tfloat alpha3, tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3) |
tfloat | triangulationCohenGeometricOriginal (tfloat *x, tfloat *y, tfloat alpha1, tfloat alpha2, tfloat alpha3, tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3) |
tfloat | triangulationCohenTrigo (tfloat *x, tfloat *y, tfloat alpha1, tfloat alpha2, tfloat alpha3, tfloat x1, tfloat y1, tfloat x2, tfloat y2, tfloat x3, tfloat y3) |
The algorithm was implemented afterEsteves2003Generalized (same as[3]). Unlike what is written in the paper, this method seems to work in all cases and beacon configurations. Maybe it is due to the use of atan2() since it is not mentioned in the paper.
Definition in file cohen.c.