public CalBuffer Calculation()
{
CalBuffer result = new CalBuffer();
double obj = 0;
double talpha = Alpha / MagData.Count;
for (var i = 0; i < Times; i++)
{
obj = 0;
//Debug.WriteLine("Position Before: (" + OwnPosition[0] + ", " + OwnPosition[1] + ", " + OwnPosition[2] + ")");
for (var j = 0; j < MagData.Count; j++)
{
CalBuffer buffer = PartCalculation(OwnPosition, MagData[j]);
obj += buffer.Cost;
for (var k = 0; k < 3; k++)
{
// Debug.WriteLine("Test: " + OwnPosition[k]);
OwnPosition[k] -= talpha * buffer.Pos[k];
// Debug.WriteLine("Test: " + OwnPosition[k]);
}
}
//Debug.WriteLine("Position now: (" + OwnPosition[0] + ", " + OwnPosition[1] + ", " + OwnPosition[2] + ")");
//Debug.WriteLine("Obj now: " + obj);
}
result.Cost = obj;
result.Pos = OwnPosition;
return(result);
}
public void GetPosition()
{
//PositionManager.OwnPosition = Position;
//PositionManager.MagData = MeasureData;
// May have problem here
PositionManager = new PositionCal(Position, MeasureData);
CalBuffer buffer = PositionManager.Calculation();
Position = buffer.Pos;
OnPropertyChanged("Position");
}
public CalBuffer PartCalculation(double[] cal, CalUnit magInfo)
{
CalBuffer result = new CalBuffer();
double[] dif = new double[3];
double a1, a2;
for (var i = 0; i < 3; i++)
{
dif[i] = cal[i] - magInfo.Position[i];
}
a1 = Math.Pow(dif[0], 2) / 16 + Math.Pow(dif[1], 2) / 16 + Math.Pow(dif[1], 2) / 25;
a2 = Co * Math.Pow(a1, -1.5) - magInfo.Signal;
result.Cost = Math.Pow(a2, 2);
double gradCo = -3 * Co * Math.Pow(a1, -2.5) * a2;
double[] grad = new double[3];
grad[0] = gradCo * dif[0] / 8;
grad[1] = gradCo * dif[1] / 8;
grad[2] = gradCo * dif[2] * 2 / 25;
result.Pos = grad;
return(result);
}
