trilateration.h

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/*
 * Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * This file is part of paparazzi
 *
 * paparazzi is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2, or (at your option)
 * any later version.
 *
 * paparazzi is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef TRILATERATION_H
#define TRILATERATION_H

#include "std.h"
#include "math/pprz_geodetic_float.h"

struct Anchor {
  float distance;       
  float time;           
  struct EnuCoor_f pos; 
  uint16_t id;          
};

extern int trilateration_init(struct Anchor *anchors);

extern int trilateration_compute(struct Anchor *anchors, struct EnuCoor_f *pos);

#endif