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-rw-r--r--digital/beacon/simu/formula.h72
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diff --git a/digital/beacon/simu/formula.h b/digital/beacon/simu/formula.h
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-/* formula.h */
-/* Beacon triangulation algorithms. {{{
- *
- * Copyright (C) 2011 Florent Duchon
- *
- * APBTeam:
- * Web: http://apbteam.org/
- * Email: team AT apbteam DOT org
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * }}} */
-
-#ifndef _FORMULA_H
-#define _FORMULA_H
-
-/* Formula calibration */
-#define LARGEUR_TABLE 2000
-#define LONGUEUR_TABLE 3000
-#define LARGEUR_DEMI_TABLE LARGEUR_TABLE/2
-
-#define BLIND_ZONE_PRECISION 0.18 //10 degrees
-// #define BLIND_ZONE_PRECISION 0.18/2 //5 degrees
-#define BLIND_ZONE_BEACON1_ANGLE12_MAX 0 + BLIND_ZONE_PRECISION//10 degrees
-#define BLIND_ZONE_BEACON1_ANGLE13_MIN 1.25856505285 - BLIND_ZONE_PRECISION //72 degrees
-#define BLIND_ZONE_BEACON1_ANGLE13_MAX 1.25856505285 + BLIND_ZONE_PRECISION //72 degrees
-
-#define BLIND_ZONE_BEACON2_ANGLE12_MAX 0 + BLIND_ZONE_PRECISION //10 degrees
-#define BLIND_ZONE_BEACON2_ANGLE23_MIN 1.25856505285 - BLIND_ZONE_PRECISION//72 degrees
-#define BLIND_ZONE_BEACON2_ANGLE23_MAX 1.25856505285 + BLIND_ZONE_PRECISION //72 degrees
-
-#define BLIND_ZONE_BEACON3_ANGLE13_MIN 1.24765037811 - BLIND_ZONE_PRECISION //70 degrees
-#define BLIND_ZONE_BEACON3_ANGLE13_MAX 1.24765037811 + BLIND_ZONE_PRECISION//70 degrees
-#define BLIND_ZONE_BEACON3_ANGLE23_MIN 1.24765037811 - BLIND_ZONE_PRECISION//70 degrees
-#define BLIND_ZONE_BEACON3_ANGLE23_MAX 1.24765037811 + BLIND_ZONE_PRECISION//70 degrees
-
-
-/* Status return */
-typedef enum
-{
- FORMULA_VALID_POSITION,
- FORMULA_BLIND_ZONE_DETECTED,
- FORMULA_OUT_OF_TABLE,
- FORMULA_UNKNOWN_FORMULA
-} TFormulaStatus;
-
-
-/* This function computes an absolute position using 2 angles from 2 beacons */
-TFormulaStatus formula_compute_position(int formula, int current_beacon_ID, float latest_angle, float current_angle, coord_s * result);
-
-/* This function computes coords using formula 3 mode ie for beacon 1 + 2*/
-TFormulaStatus formula3_compute_coord(coord_s * position, float angle_beacon1, float angle_beacon2);
-
-/* This function computes coords using formula 4 mode ie for beacon 1 + 3*/
-TFormulaStatus formula4_compute_coord(coord_s * position, float angle_beacon1, float angle_beacon3);
-
-/* This function computes coords using formula 5 mode ie for beacon 2 + 3*/
-TFormulaStatus formula5_compute_coord(coord_s * position, float angle_beacon2, float angle_beacon3);
-
-#endif