// ----------------------------------------------------------------------
void
SimulationTaskLocalizationEvaluation::Results::
collect_information( SimulationController& sc, const SimulationTaskLocalizationEvaluation& stle )
throw()
{
LocalizationObserver observer;
if ( sc.world().communication_model().exists_communication_upper_bound() )
comm_range = sc.world().communication_model().communication_upper_bound();
set_seed( sc, stle );
for( World::node_iterator
it = sc.world_w().begin_nodes_w();
it != sc.world_w().end_nodes_w();
++it )
{
Node& v = *it;
LocalizationProcessor* lp =
v.get_processor_of_type_w<LocalizationProcessor>();
if ( lp == NULL || lp->is_anchor() ) continue;
observer.set_owner( *lp );
if ( v.has_est_position() )
{
++has_pos_cnt;
double distance = euclidean_distance( v.real_position(), v.est_position() );
stat_abs_position += distance;
}
else
{
++no_pos_cnt;
}
stat_known_anchors += observer.anchor_cnt();
stat_valid_known_anchors += observer.valid_anchor_cnt();
observer.fill_stat_rel_anchor_distance(
stat_real_err_anchor_dist,
stat_comm_err_anchor_dist );
observer.fill_stat_rel_neighbor_distance(
stat_real_neighbor_dist,
stat_comm_neighbor_dist );
stat_neighbor_cnt += (double)observer.neighbor_cnt();
}// for all nodes
}
// ----------------------------------------------------------------------
void
MovementResetTask::
run( SimulationController& sc )
throw( std::runtime_error )
{
if (sc.environment_w().optional_string_param("reset", "")=="true")
sc.world_w().reset();
}
// ----------------------------------------------------------------------
void
SimulationTaskLocalizationEvaluation::HeaderInfo::
collect_information( SimulationController& sc, const SimulationTaskLocalizationEvaluation& stle )
throw()
{
LocalizationObserver observer;
if ( sc.world().communication_model().exists_communication_upper_bound() )
comm_range = sc.world().communication_model().communication_upper_bound();
world_width = sc.world().upper_right().x() - sc.world().lower_left().x();
world_height = sc.world().upper_right().y() - sc.world().lower_left().y();
set_placement( sc, stle );
for( World::node_iterator
it = sc.world_w().begin_nodes_w();
it != sc.world_w().end_nodes_w();
++it )
{
Node& v = *it;
LocalizationProcessor* lp =
v.get_processor_of_type_w<LocalizationProcessor>();
if ( lp == NULL ) continue;
if ( lp->is_anchor() )
++anchor_cnt;
else
++unknown_cnt;
observer.set_owner( *lp );
startup_anchor_frac = observer.startup_anchor_frac();
dist_algo = observer.distance_algorithm();
pos_algo = observer.position_algorithm();
ref_algo = observer.refinement_algorithm();
floodlimit = observer.floodlimit();
idle_time = observer.idle_time();
}
}
