def checkLocalizability(nSensor,locX,conX):
nPreLocNode = 0
nCurLocNode = np.sum(locX)
while(nPreLocNode<nCurLocNode):
nPreLocNode = nCurLocNode
for i in range(nSensor):
if localizability.isLocalizable(locX,conX,i):
locX[i] = 1
nCurLocNode = np.sum(locX)
def localizeByTrilateration(nSensor,nAnchor,locX,conX,posX,disX,noiseLevel):
n = nSensor + nAnchor
nPreLocNode = 0
nCurLocNode = np.sum(locX)
while(nPreLocNode<nCurLocNode):
nPreLocNode = nCurLocNode
for i in range(nSensor):
if (localizability.isLocalizable(locX,conX,i) and locX[i]==0):
locX[i] = 1
anchorIndexes = helper.getNeighborAnhors(n,i,locX,conX)
anchorIndexes = helper.getSortedReliableNodes(noiseLevel,anchorIndexes)
localize.inicialLocalize(i,anchorIndexes[0],anchorIndexes[1],anchorIndexes[2],posX,disX)
noiseLevel[i] = 3
nCurLocNode = np.sum(locX)
