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)
def localizeByMultilateration(nSensor,nAnchor,sigma,radiorange,locX,conX,posX,disX,cLevel,typeW,typeC):
n = nSensor + nAnchor
nPreLocNode = 0
nCurLocNode = np.sum(locX)
while(nPreLocNode<nCurLocNode):
nPreLocNode = nCurLocNode
for i in range(nSensor):
if locX[i] == 0 and helper.isLocalizable(locX,conX,i):
locX[i] = 1
anchorIndexes = helper.getNeighborAnhors(n,i,locX,conX)
nAnchor_neighbor = len(anchorIndexes)
posX_neighbor = posX[anchorIndexes]
disX_neighbor = disX[i][anchorIndexes]
cLevel_neighbor = cLevel[anchorIndexes]
[p,credity] = calcPosition(sigma,radiorange,nAnchor_neighbor,posX_neighbor,disX_neighbor,typeW,typeC,cLevel_neighbor)
if credity == None:cLevel[i]=0
else : cLevel[i] = credity
posX[i] = p
# print i
# print cLevel
nCurLocNode = np.sum(locX)
return 0
