/// <summary>
/// Checks if the boxes are out of range
/// </summary>
/// <param name="x1">x coordinate of the first cicrcle</param>
/// <param name="y1">y coordinate of the first cicrcle</param>
/// <param name="r1">the radius of the first circle</param>
/// <param name="x2">x coordinate of the second cicrcle</param>
/// <param name="y2">y coordinate of the second cicrcle</param>
/// <param name="r2">the radius of the second circle</param>
/// <returns>Returns true if the boxes cut</returns>
private static bool BelongsToAllBoxes(double x1, double y1, double r1, double x2, double y2, double r2)
{
Point a1, a2;
a1 = new Point(x1, y1);
a2 = new Point(x2, y2);
BoundingBox bn1, bn2;
bn1 = new BoundingBox(a1, r1);
bn2 = new BoundingBox(a2, r2);
if(bn1.Xmax < bn2.Xmin || bn1.Xmin > bn2.Xmax || bn1.Ymax < bn2.Ymin || bn1.Ymin > bn2.Ymax)
return false;
else
return true;
}
/// <summary>
/// Calculates the intersection points between two circles
/// </summary>
/// <param name="Anchors">List of anchor nodes</param>
/// <param name="filterMethod">The filter to use on the RSS values</param>
/// <returns>The center of the box in common</returns>
public static Point MinMaxCalc(List<AnchorNode> Anchors, Node.FilterMethod filterMethod, Node.RangingMethod rangingMethod)
{
BoundingBox BnBox, AnBox;
double distance = Anchors[0].range;
Point center;
center = new Point(Anchors[0].posx, Anchors[0].posy);
AnBox = new BoundingBox(center, distance);
BnBox = AnBox;
for (int i = 1; i < Anchors.Count; i++)
{
distance = Anchors[i].range;
center = new Point(Anchors[i].posx, Anchors[i].posy);
AnBox = new BoundingBox(center, distance);
BnBox.Xmin = Math.Max(BnBox.Xmin, AnBox.Xmin);
BnBox.Xmax = Math.Min(BnBox.Xmax, AnBox.Xmax);
BnBox.Ymin = Math.Max(BnBox.Ymin, AnBox.Ymin);
BnBox.Ymax = Math.Min(BnBox.Ymax, AnBox.Ymax);
}
center.x = (BnBox.Xmin + BnBox.Xmax) / 2;
center.y = (BnBox.Ymin + BnBox.Ymax) / 2;
return center;
}
public static Point CalculatePosition(Node BlindNode)
{
BoundingBox BnBox = new BoundingBox(0);
Point position = new Point();
double distance;
if (BlindNode.Anchors.Count >= 3)
{
foreach (AnchorNode AN in BlindNode.Anchors)
{
//perform the ranging
distance = Ranging(AN.RSS);
Point center = new Point(AN.posx, AN.posy);
BoundingBox AnBox = new BoundingBox(center, distance);
BnBox.Xmin = Math.Max(BnBox.Xmin, AnBox.Xmin);
BnBox.Xmax = Math.Min(BnBox.Xmax, AnBox.Xmax);
BnBox.Ymin = Math.Max(BnBox.Ymin, AnBox.Ymin);
BnBox.Ymax = Math.Min(BnBox.Ymax, AnBox.Ymax);
}
}
else
throw new ApplicationException("Less than three anchor nodes available");
position.x = (int)(BnBox.Xmin + BnBox.Xmax) / 2;
position.y = (int)(BnBox.Ymin + BnBox.Ymax) / 2;
return position;
}