-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathctaglocalg.cpp
More file actions
172 lines (154 loc) · 5.52 KB
/
Copy pathctaglocalg.cpp
File metadata and controls
172 lines (154 loc) · 5.52 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
#include "string.h"
#include "ctaglocalg.h"
#include "ccmath.h"
cTagLocAlg::cTagLocAlg()
{
}
cTagLocAlg::~cTagLocAlg()
{
}
void cTagLocAlg::locEstByMatrix(const int nAnchNum, const COORD_XYZ *dAnchPos, const double *dTagRang, COORD_XYZ *dTagPos)
{
if (nAnchNum < 3)
return; // couldn't locate the tag
double** A = new double*[3];
double** D = new double*[3];
for (int id = 0; id < 3; id++)
{
A[id] = new double[3];
D[id] = new double;
A[id][0] = 2.0*(dAnchPos[id+1].dx - dAnchPos[0].dx);
A[id][1] = 2.0*(dAnchPos[id+1].dy - dAnchPos[0].dy);
A[id][2] = 2.0*(dAnchPos[id+1].dz - dAnchPos[0].dz);
D[id][0] = dTagRang[0]*dTagRang[0] - dTagRang[id+1]*dTagRang[id+1]
+ dAnchPos[id+1].dx*dAnchPos[id+1].dx - dAnchPos[0].dx*dAnchPos[0].dx
+ dAnchPos[id+1].dy*dAnchPos[id+1].dy - dAnchPos[0].dy*dAnchPos[0].dy
+ dAnchPos[id+1].dz*dAnchPos[id+1].dz - dAnchPos[0].dz*dAnchPos[0].dz;
}
double** A_Inv = new double*[3];
for (int id = 0; id < 3; ++id) {
A_Inv[id] = new double[3];
memset(A_Inv[id],0,sizeof(double)*3);
}
__CCMATH__::MatrixInv(A,A_Inv,nAnchNum-1,3);
double** Pos_Tag = new double*[3];
for (int id = 0; id < 3; id++)
{
Pos_Tag[id] = new double;
memset(Pos_Tag[id], 0, sizeof(double));
}
__CCMATH__::MatrixMultiply(A_Inv, D, Pos_Tag, 3, 3, 3, 1);
dTagPos->dx = Pos_Tag[0][0];
dTagPos->dy = Pos_Tag[1][0];
dTagPos->dz = Pos_Tag[2][0];
for (int id = 0; id < 3; id++)
{
delete[] A_Inv[id];
A_Inv[id] = nullptr;
delete Pos_Tag[id];
Pos_Tag[id] = nullptr;
}
delete [] A_Inv; A_Inv = nullptr;
delete [] Pos_Tag; Pos_Tag = nullptr;
for (int id = 1; id < nAnchNum; id++)
{
delete [] A[id]; A[id] = nullptr;
delete [] D[id]; D[id] = nullptr;
}
delete [] A; delete [] D;
A = nullptr; D = nullptr;
return;
}
void cTagLocAlg::locEstByLSE(const int nAnchNum, const COORD_XYZ *dAnchPos, const double *dTagRang, COORD_XYZ *dTagPos)
{
if (nAnchNum < 3)
return; // couldn't locate the tag
double** A = new double*[nAnchNum-1];
double** D = new double*[nAnchNum-1];
for (int id = 0; id < nAnchNum-1; id++)
{
A[id] = new double[3];
D[id] = new double;
A[id][0] = 2*(dAnchPos[id+1].dx - dAnchPos[0].dx);
A[id][1] = 2*(dAnchPos[id+1].dy - dAnchPos[0].dy);
A[id][2] = 2*(dAnchPos[id+1].dz - dAnchPos[0].dz);
D[id][0] = dTagRang[0]*dTagRang[0] - dTagRang[id+1]*dTagRang[id+1]
+ dAnchPos[id+1].dx*dAnchPos[id+1].dx - dAnchPos[0].dx*dAnchPos[0].dx
+ dAnchPos[id+1].dy*dAnchPos[id+1].dy - dAnchPos[0].dy*dAnchPos[0].dy
+ dAnchPos[id+1].dz*dAnchPos[id+1].dz - dAnchPos[0].dz*dAnchPos[0].dz;
}
double** TransA = new double*[3];
for (int id = 0; id < 3; ++id) {
TransA[id] = new double[nAnchNum-1];
memset(TransA[id],0,sizeof(double)*nAnchNum-1);
}
__CCMATH__::MatrixTranspose(A,TransA,nAnchNum-1,3);
double** TransAMultiplyA = new double*[3];
double** TransA_Multi_A_Inv = new double*[3];
double** TransA_Multi_D = new double*[3];
double** Pos_Tag = new double*[3];
for (int id = 0; id < 3; id++)
{
TransAMultiplyA[id] = new double[3];
memset(TransAMultiplyA[id], 0, sizeof(double)*3);
TransA_Multi_A_Inv[id] = new double[3];
memset(TransA_Multi_A_Inv[id], 0, sizeof(double)*3);
TransA_Multi_D[id] = new double;
memset(TransA_Multi_D[id], 0, sizeof(double));
Pos_Tag[id] = new double;
memset(Pos_Tag[id], 0, sizeof(double));
}
__CCMATH__::MatrixMultiply(TransA, A, TransAMultiplyA, nAnchNum - 1, 3, 3, nAnchNum - 1);
__CCMATH__::MatrixInv(TransAMultiplyA, TransA_Multi_A_Inv, 3, 3);
__CCMATH__::MatrixMultiply(TransA, D, TransA_Multi_D, 3, nAnchNum - 1, nAnchNum - 1, 1);
__CCMATH__::MatrixMultiply(TransA_Multi_A_Inv, TransA_Multi_D, Pos_Tag, 3, 3, 3, 1);
dTagPos->dx = Pos_Tag[0][0];
dTagPos->dy = Pos_Tag[1][0];
dTagPos->dz = Pos_Tag[2][0];
for (int id = 0; id < 3; id++)
{
delete[] TransA[id];
TransA[id] = nullptr;
delete [] TransAMultiplyA[id];
TransAMultiplyA[id] = nullptr;
delete [] TransA_Multi_A_Inv[id];
TransA_Multi_A_Inv[id] = nullptr;
delete TransA_Multi_D[id];
TransA_Multi_D[id] = nullptr;
delete Pos_Tag[id];
Pos_Tag[id] = nullptr;
}
delete [] TransA; TransA = nullptr;
delete [] TransAMultiplyA; TransAMultiplyA = nullptr;
delete [] TransA_Multi_A_Inv; TransA_Multi_A_Inv = nullptr;
delete [] TransA_Multi_D; TransA_Multi_D = nullptr;
delete [] Pos_Tag; Pos_Tag = nullptr;
for (int id = 1; id < nAnchNum; id++)
{
delete [] A[id]; A[id] = nullptr;
delete [] D; D = nullptr;
}
delete [] A; delete [] D;
A = nullptr; D = nullptr;
return;
}
COORD_XYZ cTagLocAlg::tagLoc(TAG_ANCHOR_DATA data, int tagID, int algID)
{
COORD_XYZ tagLoc;
int nAnchNum = data.nAnchNum;
COORD_XYZ *anchPos = data.anchXYZ;
double *dTagRang = new double[nAnchNum];
for (int id = 0; id < nAnchNum; id++)
dTagRang[id] = data.getRange(tagID,id);
switch (algID) {
case 0:
locEstByLSE(nAnchNum, anchPos, dTagRang, &tagLoc);
break;
case 1:
locEstByMatrix(nAnchNum, anchPos, dTagRang, &tagLoc);
break;
default:
break;
}
return tagLoc;
}