Location Finding
Location Finding.
Data Structures |
|
struct | sl_rtl_loc_locator_item |
Locator item which contains the position and orientation of the locator array.
|
Macros |
|
#define | SL_RTL_LOC_ALL_LOCATORS (uint32_t)(-1) |
#define | SL_RTL_LOC_ALL_TAGS INT32_MAX |
Typedefs |
|
typedef void * | sl_rtl_loc_libitem |
Locationing library item.
|
Detailed Description
Location Finding.
These functions are related to the calculation of positions from angles and distances.
Data Structure Documentation
◆ sl_rtl_loc_locator_item
struct sl_rtl_loc_locator_item |
Locator item which contains the position and orientation of the locator array.
Macro Definition Documentation
◆ SL_RTL_LOC_ALL_LOCATORS
#define SL_RTL_LOC_ALL_LOCATORS (uint32_t)(-1) |
◆ SL_RTL_LOC_ALL_TAGS
#define SL_RTL_LOC_ALL_TAGS INT32_MAX |
Typedef Documentation
◆ sl_rtl_loc_libitem
typedef void* sl_rtl_loc_libitem |
Locationing library item.
Enumeration Type Documentation
◆ sl_rtl_loc_locator_measurement_field
Locator-specific measurements.
◆ sl_rtl_loc_target_measurement_field
◆ sl_rtl_loc_estimation_mode
Estimation mode.
◆ sl_rtl_loc_measurement_validation_method
Measurement validation method.
◆ sl_rtl_loc_locator_parameter
Locator-specific parameters related to locationing.
◆ sl_rtl_loc_target_parameter
◆ sl_rtl_loc_result
enum sl_rtl_loc_result |
Locationing state results.
Function Documentation
◆ sl_rtl_loc_init()
enum sl_rtl_error_code sl_rtl_loc_init | ( | sl_rtl_loc_libitem * |
item
|
) |
Initialize the locationing libitem instance.
- Parameters
-
[in] item
Pointer to the libitem to be initialized.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_deinit()
enum sl_rtl_error_code sl_rtl_loc_deinit | ( | sl_rtl_loc_libitem * |
item
|
) |
Deinitialize the locationing libitem instance.
- Parameters
-
[in] item
Pointer to the libitem to be initialized.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_reinit()
enum sl_rtl_error_code sl_rtl_loc_reinit | ( | sl_rtl_loc_libitem * |
item
|
) |
Reinitialize the locationing libitem instance.
Reset the libitem's internal values to the starting point so that it can start all over from the beginning. This can be used, for example, in testing instead of deleting and re-creating the libitem object.
- Parameters
-
[in] item
Pointer to the libitem to be initialized.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_mode()
enum sl_rtl_error_code sl_rtl_loc_set_mode | ( | sl_rtl_loc_libitem * |
item,
|
enum sl_rtl_loc_estimation_mode |
mode
|
||
) |
Set the locationing dimensionality mode. Possible choices are 2D or 3D modes. Two-dimensional mode does not vary the z-position of the target and assumes it is 0 at all times. When updating, for example, the distance measurement from the locator to the target in 2D mode, note that even if the locator and tag are on different z-planes, the distance should be as if they were on the same z-plane.
- Parameters
-
[in] item
Pointer to the libitem. [in] mode
Estimation mode as enum.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_measurement_validation()
enum sl_rtl_error_code sl_rtl_loc_set_measurement_validation | ( | sl_rtl_loc_libitem * |
item,
|
enum sl_rtl_loc_measurement_validation_method |
method
|
||
) |
Set the measurement validation method. If not given, the minimum method is used. Possible choices are minimum, medium, and full. The minimum does not increase the calculation CPU load because it is integrated inside the algorithm's normal operation. The medium and full methods use additionally one or multiple calculation rounds respectively and may discard the most inaccurate measurements from the calculation. However, they will always leave enough of them to calculate the estimate.
- Parameters
-
[in] item
Pointer to the libitem. [in] method
Validation method as enum.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_add_locator()
enum sl_rtl_error_code sl_rtl_loc_add_locator | ( | sl_rtl_loc_libitem * |
item,
|
struct sl_rtl_loc_locator_item * |
locator_item,
|
||
uint32_t * |
locator_id_out
|
||
) |
Add a locator item into the locationing estimator after setting its position and orientation parameters. Add all locators using this function before calling sl_rtl_loc_create_position_estimator to create the estimator instance.
- Parameters
-
[in] item
Pointer to the libitem [in] locator_item
Locator item instance to be added [out] locator_id_out
ID of the locator assigned by the library
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_add_tag()
enum sl_rtl_error_code sl_rtl_loc_add_tag | ( | sl_rtl_loc_libitem * |
item,
|
int32_t * |
tag_id_out
|
||
) |
Add an asset tag item into the locationing estimator.
- Parameters
-
[in] item
Pointer to the libitem. [out] tag_id_out
ID of the tag assigned by the library.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_remove_tag()
enum sl_rtl_error_code sl_rtl_loc_remove_tag | ( | sl_rtl_loc_libitem * |
item,
|
int32_t |
tag_id
|
||
) |
Remove an asset tag item previously added with sl_rtl_loc_add_tag.
- Parameters
-
[in] item
Pointer to the libitem. [out] ID
of the tag to be removed.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_create_position_estimator()
enum sl_rtl_error_code sl_rtl_loc_create_position_estimator | ( | sl_rtl_loc_libitem * |
item
|
) |
Create the position estimator instance after all locators have been added.
- Parameters
-
[in] item
Pointer to the libitem.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_locator_parameter()
enum sl_rtl_error_code sl_rtl_loc_set_locator_parameter | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
enum sl_rtl_loc_locator_parameter |
parameter,
|
||
float |
value
|
||
) |
Set locator-specific parameters, such as the azimuth and elevation measurement covariances.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator for which the parameter will be set. [in] parameter
Parameter to be set (as enum). [in] value
New value for the parameter.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_target_parameter()
enum sl_rtl_error_code sl_rtl_loc_set_target_parameter | ( | sl_rtl_loc_libitem * |
item,
|
enum sl_rtl_loc_target_parameter |
parameter,
|
||
float |
value
|
||
) |
Set target-specific parameters, such as the known target height.
- Parameters
-
[in] item
Pointer to the libitem. [in] parameter
Parameter to be set (as enum). [in] value
New value for the parameter.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_target_parameter_tag()
enum sl_rtl_error_code sl_rtl_loc_set_target_parameter_tag | ( | sl_rtl_loc_libitem * |
item,
|
enum sl_rtl_loc_target_parameter |
parameter,
|
||
float |
value,
|
||
int32_t |
tag_id
|
||
) |
Set target-specific parameters, such as the known target height for a specified tag.
- Parameters
-
[in] item
Pointer to the libitem. [in] parameter
Parameter to be set (as enum). [in] value
New value for the parameter. [in] tag_id
TagID of the asset to be changed or SL_RTL_LOC_ALL_TAGS .
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_clear_measurements()
enum sl_rtl_error_code sl_rtl_loc_clear_measurements | ( | sl_rtl_loc_libitem * |
item
|
) |
Clear previous measurements. Call this function before setting new measurements if the previous measurements are not valid for the next iteration step.
- Parameters
-
[in] item
Pointer to the libitem.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_clear_measurements_tag()
enum sl_rtl_error_code sl_rtl_loc_clear_measurements_tag | ( | sl_rtl_loc_libitem * |
item,
|
int32_t |
tag_id
|
||
) |
Clear previous measurements for a specified tag. Call this function before setting new measurements if the previous measurements are not valid for the next iteration step.
- Parameters
-
[in] item
Pointer to the libitem. [in] tag_id
TagID of the asset to be changed or SL_RTL_LOC_ALL_TAGS .
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_locator_measurement()
enum sl_rtl_error_code sl_rtl_loc_set_locator_measurement | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
enum sl_rtl_loc_locator_measurement_field |
field,
|
||
float |
value
|
||
) |
Set a new measurement for a locator specified by the locator ID.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator for which the measurement will be set. [in] field
Measurement to be updated (as enum). [in] value
New value for the measurement.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_locator_measurement_tag()
enum sl_rtl_error_code sl_rtl_loc_set_locator_measurement_tag | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
enum sl_rtl_loc_locator_measurement_field |
field,
|
||
float |
value,
|
||
int32_t |
tag_id
|
||
) |
Set a new measurement for a locator specified by the locator ID for a specified tag.
- Parameters
-
[in] item
Pointer to the libitem [in] locator_id
ID of the locator for which the measurement will be set [in] field
Measurement to be updated (as enum) [in] value
New value for the measurement [in] tag_id
TagID of the asset to be changed
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_set_target_measurement()
enum sl_rtl_error_code sl_rtl_loc_set_target_measurement | ( | sl_rtl_loc_libitem * |
item,
|
enum sl_rtl_loc_target_measurement_field |
field,
|
||
float |
value
|
||
) |
Set a new measurement for the target. Because the current version does not support this function, calling it has no effect.
- Parameters
-
[in] item
Pointer to the libitem. [in] field
Measurement to be updated (as enum). [in] value
New value for the measurement.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_process()
enum sl_rtl_error_code sl_rtl_loc_process | ( | sl_rtl_loc_libitem * |
item,
|
float |
time_step
|
||
) |
Process the current time step of the locationing filter. Call this function after old measurements are cleared and new measurements are set for the current time step. The process will step the filter forward and provide new state results and state covariance values, which can be retrieved with separate function calls.
- Parameters
-
[in] item
Pointer to the libitem. [in] time_step
Process time interval in seconds. This is the time separation between the previous step and this current step.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_process_tag()
enum sl_rtl_error_code sl_rtl_loc_process_tag | ( | sl_rtl_loc_libitem * |
item,
|
float |
time_step,
|
||
int32_t |
tag_id
|
||
) |
Process the current time step of the locationing filter for a specified tag. Call this function after old measurements are cleared and new measurements are set for the current time step. The process will step the filter forward and provide new state results and state covariance values, which can be retrieved with separate function calls.
- Parameters
-
[in] item
Pointer to the libitem. [in] time_step
Process time interval in seconds. This is the time separation between the previous step and this current step. [in] tag_id
TagID of the asset to be processed or SL_RTL_LOC_ALL_TAGS .
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_get_result()
enum sl_rtl_error_code sl_rtl_loc_get_result | ( | sl_rtl_loc_libitem * |
item,
|
enum sl_rtl_loc_result |
result,
|
||
float * |
value
|
||
) |
Get result of the current state variables or state covariances.
- Parameters
-
[in] item
Pointer to the libitem. [in] result
The desired state variable result as enum. [out] value
The value output of the state variable.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_get_result_tag()
enum sl_rtl_error_code sl_rtl_loc_get_result_tag | ( | sl_rtl_loc_libitem * |
item,
|
enum sl_rtl_loc_result |
result,
|
||
float * |
value,
|
||
int32_t |
tag_id
|
||
) |
Get result of the current state variables or state covariances for a specified tag.
- Parameters
-
[in] item
Pointer to the libitem. [in] result
The desired state variable result as enum. [out] value
The value output of the state variable. [in] tag_id
TagID of the asset to fetch the results for.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_get_measurement_in_system_coordinates()
enum sl_rtl_error_code sl_rtl_loc_get_measurement_in_system_coordinates | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
enum sl_rtl_loc_locator_measurement_field |
field,
|
||
float * |
value_out
|
||
) |
Get the latest measurement converted into the coordinate system of the multi-locator system.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator whose measurement will be retrieved. [in] field
Measurement to be retrieved (as enum). [out] value_out
The value output of the state variable.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_get_measurement_in_system_coordinates_tag()
enum sl_rtl_error_code sl_rtl_loc_get_measurement_in_system_coordinates_tag | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
enum sl_rtl_loc_locator_measurement_field |
field,
|
||
float * |
value_out,
|
||
int32_t |
tag_id
|
||
) |
Get latest measurement converted into the coordinate system of the multi-locator system for a specified tag.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator whose measurement will be retrieved. [in] field
Measurement to be retrieved (as enum). [out] value_out
The value output of the state variable. [in] tag_id
TagID of the asset.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_get_expected_direction()
enum sl_rtl_error_code sl_rtl_loc_get_expected_direction | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float * |
azimuth,
|
||
float * |
elevation,
|
||
float * |
distance
|
||
) |
Get the expected direction of the asset for the locator.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator whose measurement will be retrieved. [out] azimuth
The expected azimuth value. [out] elevation
The expected elevation value. [out] distance
The expected distance value.
- Returns
- SL_RTL_ERROR_SUCCESS if the locator does not require correction.
- SL_RTL_ERROR_INCORRECT_MEASUREMENT if the locator's previous measurement was ignored because the error is too large.
- Another error code in case of error
Position calculation has a better overall view to the asset's location than any individual locator. If the direction angles differ too much from the expected direction, the locator can be instructed to correct its internal state so that in can recover from this incorrectness faster. See also sl_rtl_aox_set_expected_direction() .
◆ sl_rtl_loc_get_expected_direction_tag()
enum sl_rtl_error_code sl_rtl_loc_get_expected_direction_tag | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float * |
azimuth,
|
||
float * |
elevation,
|
||
float * |
distance,
|
||
int32_t |
tag_id
|
||
) |
Get the expected direction of the asset for the locator for a specified tag.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator whose measurement will be retrieved. [out] azimuth
The expected azimuth value. [out] elevation
The expected elevation value. [out] distance
The expected distance value. [in] tag_id
TagID of the asset.
- Returns
- SL_RTL_ERROR_SUCCESS if the locator does not require correction.
- SL_RTL_ERROR_INCORRECT_MEASUREMENT if the locator's previous measurement was ignored because of too large error
- Another error code in case of error
Position calculation has a better overall view to the asset's location than any individual locator. If the direction angles differ too much from the expected direction, the locator can be instructed to correct its internal state so that in can recover from this incorrectness faster. See also sl_rtl_aox_set_expected_direction()
◆ sl_rtl_loc_get_expected_deviation()
enum sl_rtl_error_code sl_rtl_loc_get_expected_deviation | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float * |
azimuth,
|
||
float * |
elevation,
|
||
float * |
distance
|
||
) |
Get the deviation values for expected direction of the asset for the locator.
- Parameters
-
[in] locator_id
ID of the locator whose measurement will be retrieved. [out] azimuth
The expected azimuth value's standard deviation. [out] elevation
The expected elevation value's standard deviation. [in] item
Pointer to the libitem. [out] distance
The expected distance value's standard deviation.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_get_expected_deviation_tag()
enum sl_rtl_error_code sl_rtl_loc_get_expected_deviation_tag | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float * |
azimuth,
|
||
float * |
elevation,
|
||
float * |
distance,
|
||
int32_t |
tag_id
|
||
) |
Get the deviation values for expected direction of the asset for the locator for a specified tag.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator whose measurement will be retrieved. [out] azimuth
The expected azimuth value's standard deviation. [out] elevation
The expected elevation value's standard deviation. [out] distance
The expected distance value's standard deviation. [in] tag_id
TagID of the asset.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_get_number_disabled()
int sl_rtl_loc_get_number_disabled | ( | sl_rtl_loc_libitem * |
item
|
) |
Get the number of locators, which are disabled from position calculation because the direction error is too large.
- Parameters
-
[in] item
Pointer to the libitem.
- Returns
- Number of locators needing correction, or -1 in case of any other error
◆ sl_rtl_loc_get_number_disabled_tag()
int sl_rtl_loc_get_number_disabled_tag | ( | sl_rtl_loc_libitem * |
item,
|
int32_t |
tag_id
|
||
) |
Get the number of locators, which are disabled from position calculation because the direction error is too large, for a specified tag.
- Parameters
-
[in] item
Pointer to the libitem. [in] tag_id
TagID of the asset.
- Returns
- Number of locators needing correction, or -1 in case of any other error
◆ sl_rtl_loc_filter_in_reach()
bool sl_rtl_loc_filter_in_reach | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id
|
||
) |
Check if the asset is in reach of a given locator according to the position-based filtering.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of the locator to run the test.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_filter_clear()
enum sl_rtl_error_code sl_rtl_loc_filter_clear | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id
|
||
) |
Clear all the position-based filters from a locator or from all locators.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of a single locator or SL_RTL_LOC_ALL_LOCATORS .
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_filter_sphere()
enum sl_rtl_error_code sl_rtl_loc_filter_sphere | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float |
radius,
|
||
bool |
exclude_region
|
||
) |
Add a position-based filter. This filter is based on the distance from a locator. The filter can be added to one locator or all locators. A locator may also have several combined filters.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of a single locator or SL_RTL_LOC_ALL_LOCATORS . [in] radius
Distance from the locator. [in] exclude_region
If true, define an excluded region instead.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_filter_circle()
enum sl_rtl_error_code sl_rtl_loc_filter_circle | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float |
radius,
|
||
bool |
exclude_region
|
||
) |
Add a position-based filter. The two dimensional filter is based on the distance from a locator. The filter can be added to one locator or all locators. A locator may also have several combined filters.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of a single locator or SL_RTL_LOC_ALL_LOCATORS . [in] radius
Distance from the locator. [in] exclude_region
If true, define an excluded region instead.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_filter_box()
enum sl_rtl_error_code sl_rtl_loc_filter_box | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float |
xDelta,
|
||
float |
yDelta,
|
||
float |
zDelta,
|
||
bool |
exclude_region
|
||
) |
Add a position-based filter. This filter defines relative distances in coordinate axes' directions. The filter can be added to one locator or all locators. A locator may also have several combined filters.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of a single locator or SL_RTL_LOC_ALL_LOCATORS . [in] xDelta
Maximum distance in X-coordinate direction. [in] yDelta
Maximum distance in Y-coordinate direction. [in] zDelta
Maximum distance in Z-coordinate direction. [in] exclude_region
If true, define an excluded region instead.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_filter_rect()
enum sl_rtl_error_code sl_rtl_loc_filter_rect | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float |
xDelta,
|
||
float |
yDelta,
|
||
bool |
exclude_region
|
||
) |
Add a position-based filter. This two dimensional filter defines relative distances in coordinate axes' directions. The filter can be added to one locator or all locators. A locator may also have several combined filters.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of a single locator or SL_RTL_LOC_ALL_LOCATORS . [in] xDelta
Maximum distance in X-coordinate direction. [in] yDelta
Maximum distance in Y-coordinate direction. [in] exclude_region
If true, define an excluded region instead.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_filter_room()
enum sl_rtl_error_code sl_rtl_loc_filter_room | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float |
minX,
|
||
float |
maxX,
|
||
float |
minY,
|
||
float |
maxY,
|
||
float |
minZ,
|
||
float |
maxZ,
|
||
bool |
exclude_region
|
||
) |
Add a position-based filter. This filter defines an area in global coordinates. The filter can be added to one locator or all locators. A locator may also have several combined filters.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of a single locator or SL_RTL_LOC_ALL_LOCATORS . [in] minX
Minimum X-coordinate value. [in] maxX
Maximum X-coordinate value. [in] minY
Minimum Y-coordinate value. [in] maxY
Maximum Y-coordinate value. [in] minZ
Minimum Z-coordinate value. [in] maxZ
Maximum Z-coordinate value. [in] exclude_region
If true, define an excluded region instead.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_filter_floor()
enum sl_rtl_error_code sl_rtl_loc_filter_floor | ( | sl_rtl_loc_libitem * |
item,
|
uint32_t |
locator_id,
|
||
float |
minX,
|
||
float |
maxX,
|
||
float |
minY,
|
||
float |
maxY,
|
||
bool |
exclude_region
|
||
) |
Add a position-based filter. The two dimensional filter defines an area in global coordinates. The filter can be added to one locator or all locators. A locator may also have several combined filters.
- Parameters
-
[in] item
Pointer to the libitem. [in] locator_id
ID of a single locator or SL_RTL_LOC_ALL_LOCATORS . [in] minX
Minimum X-coordinate value. [in] maxX
Maximum X-coordinate value. [in] minY
Minimum Y-coordinate value. [in] maxY
Maximum Y-coordinate value. [in] exclude_region
If true, define an excluded region instead.
- Returns
- SL_RTL_ERROR_SUCCESS if successful
◆ sl_rtl_loc_enable_trilateration()
enum sl_rtl_error_code sl_rtl_loc_enable_trilateration | ( | sl_rtl_loc_libitem * |
item,
|
bool |
value
|
||
) |
Enable trilateration method in location calculation.
The trilateration method calculates the position based on the distances from the locators rather than the direction angles. This function enables the method, but the location calculation may still use the direction if available to further increase the accuracy.
Trilateration method is not turned on by default.
- Parameters
-
[in] item
Pointer to the libitem. [in] value
Turn the trilateration on or off.
- Returns
- SL_RTL_ERROR_SUCCESS if successful