Classes
class	PositioningPlus

Variables
	beacon = pos.get_beacon('00124B00090593E6')

int	breakpoint = 0

list	dummy_pings

	in_range = pos.in_range(dummy_pings)

	pos = PositioningPlus('/home/metratec/catkin_ws/src/indoor_positioning/config/zones.yml')

	ranges = pos.parse_srg(in_range)

list	resp

	tril = pos.trilaterate(ranges)

	zone = pos.get_zone(dummy_pings)

Detailed Description

Use this class to perform indoor positioning with the metraTec IPS+ system. The position of a receiver is evaluated by
UWB ranging of RF beacons placed in the environment. Requires a YAML file with the configuration of beacon positions.

Usage:
Initialize the class by passing the directory of the config file. Then collect a number of beacon responses to ranging
requests (SRG) and use the parse_srg() function to get a list of beacon objects and their respective ranges from a list
of SRG responses.
Use this list as input for the trilaterate() function to estimate the position of the receiver in 3D space.

A few examples can be found in the main function below.

Variable Documentation

indoor_positioning.positioning_plus.beacon = pos.get_beacon('00124B00090593E6')

Definition at line 192 of file src/indoor_positioning/positioning_plus.py.

int indoor_positioning.positioning_plus.breakpoint = 0

Definition at line 206 of file src/indoor_positioning/positioning_plus.py.

list indoor_positioning.positioning_plus.dummy_pings

Initial value:

 = ['BCN 00124B00090593E6 -090', 'BCN 00124B00090593E6 -090', 'BCN 00124B00090593E6 -090',
                    'BCN 00124B00050CD41E -090', 'BCN 00124B00050CD41E -070', 'BCN 00124B00050CD41E -050',
                    'BCN 00124B00050CDC0A -070', 'BCN 00124B00050CDC0A -060', 'BCN 00124B00050CDC0A -090']