public PositionEstimation(List <NeighbourPosition> neighbourPositions, bool useDistance)
{
if (!useDistance)
{
NeighbourPositions = neighbourPositions.Where(position => position.Score > 0).ToList();
var zonesScores = NeighbourPositions.GroupBy(neighbourPosition => neighbourPosition.Position.ZoneId)
.Select(group => new { ZoneId = group.Key, Weight = group.Count() })
.ToList();
if (NeighbourPositions.Count > 0)
{
var totalScore = NeighbourPositions.Sum(neighbour => neighbour.Score * zonesScores.FirstOrDefault(zone => zone.ZoneId == neighbour.Position.ZoneId).Weight);
NeighbourPositions.ForEach(position =>
{
X += position.Position.X * position.Score * zonesScores.FirstOrDefault(zone => zone.ZoneId == position.Position.ZoneId).Weight;
Y += position.Position.Y * position.Score * zonesScores.FirstOrDefault(zone => zone.ZoneId == position.Position.ZoneId).Weight;
});
X = X / totalScore;
Y = Y / totalScore;
}
}
else
{
NeighbourPositions = neighbourPositions;
var zonesScores = neighbourPositions.GroupBy(neighbourPosition => neighbourPosition.Position.ZoneId)
.Select(group => new { ZoneId = group.Key, Weight = group.Count() })
.ToList();
if (NeighbourPositions.Count > 0)
{
var totalScore = NeighbourPositions.Sum(neighbour => 1 / neighbour.Distance * zonesScores.FirstOrDefault(zone => zone.ZoneId == neighbour.Position.ZoneId).Weight);
NeighbourPositions.ForEach(position =>
{
X += position.Position.X * 1 / position.Distance * zonesScores.FirstOrDefault(zone => zone.ZoneId == position.Position.ZoneId).Weight;
Y += position.Position.Y * 1 / position.Distance * zonesScores.FirstOrDefault(zone => zone.ZoneId == position.Position.ZoneId).Weight;
});
X = X / totalScore;
Y = Y / totalScore;
}
}
NeighbourPositions.ForEach(neighbour => {
neighbour.Position.Calibrations = null;
neighbour.Position.PositionSignalData = null;
neighbour.Position.Zone.Positions = null;
neighbour.Position.Zone.Locale = null;
});
}
private Vector2 GetNeighbourPosition(NeighbourPositions Pos)
{
Vector2 Position = new Vector2();
switch (Pos)
{
case NeighbourPositions.TopLeft:
Position.X = NodePosition.X - 1;
Position.Y = NodePosition.Y - 1;
break;
case NeighbourPositions.Top:
Position.X = NodePosition.X;
Position.Y = NodePosition.Y - 1;
break;
case NeighbourPositions.TopRight:
Position.X = NodePosition.X + 1;
Position.Y = NodePosition.Y - 1;
break;
case NeighbourPositions.Left:
Position.X = NodePosition.X - 1;
Position.Y = NodePosition.Y;
break;
case NeighbourPositions.Right:
Position.X = NodePosition.X + 1;
Position.Y = NodePosition.Y;
break;
case NeighbourPositions.BottomLeft:
Position.X = NodePosition.X - 1;
Position.Y = NodePosition.Y + 1;
break;
case NeighbourPositions.Bottom:
Position.X = NodePosition.X;
Position.Y = NodePosition.Y + 1;
break;
case NeighbourPositions.BottomRight:
Position.X = NodePosition.X + 1;
Position.Y = NodePosition.Y + 1;
break;
}
return Position;
}
