def HDFOptimizer(self, P, RN_RSS, RN_ToA, RN_TDoA, RN_TDoA2, ToA, ToAStd, TDoA, TDoAStd, PL0, d0, RSS, RSSnp, RSSStd, Rest):
"""
This applies LS approximation to get position P.
Return P
"""
RSSL=RSSLocation(RN_RSS)
TOAL=ToALocation(RN_ToA)
TDOAL=TDoALocation(RN_TDoA)
if RN_RSS==None:
shRN_TDoA = shape(RN_TDoA)
RNnum_TDoA = shRN_TDoA[1]
#RN_TDoA2= RN_ToA[:,0:1]*ones((1,RNnum_TDoA))
fopt=TOAL.ToAOptimizer(P, RN_ToA, ToA, ToAStd) + TDOAL.TDoAOptimizer(P, RN_TDoA, RN_TDoA2, TDoA, TDoAStd)
return fopt
elif RN_ToA==None:
shRN_TDoA = shape(RN_TDoA)
RNnum_TDoA = shRN_TDoA[1]
#RN_TDoA2= RN_RSS[:,0:1]*ones((1,RNnum_TDoA))
fopt=RSSL.DRSSOptimizer(P, RN_RSS, PL0, d0, RSS, RSSnp, RSSStd) + TDOAL.TDoAOptimizer(P, RN_TDoA, RN_TDoA2, TDoA, TDoAStd)
return fopt
elif RN_TDoA==None:
fopt=RSSL.DRSSOptimizer(P, RN_RSS, PL0, d0, RSS, RSSnp, RSSStd) + TOAL.ToAOptimizer(P, RN_ToA, ToA, ToAStd)
return fopt
else:
shRN_TDoA = shape(RN_TDoA)
RNnum_TDoA = shRN_TDoA[1]
#RN_TDoA2= RN_TDoA[:,0:1]*ones((1,RNnum_TDoA))
fopt=RSSL.DRSSOptimizer(P, RN_RSS, PL0, d0, RSS, RSSnp, RSSStd) + TOAL.ToAOptimizer(P, RN_ToA, ToA, ToAStd) + TDOAL.TDoAOptimizer(P, RN_TDoA, RN_TDoA2, TDoA, TDoAStd)
return fopt
