pydistsim.utils.localization.helpers

Functions

align_clusters	Scale, rotate, translate srcLoc w.r.t.
construct_G	Construct Jacobian of vector mu(pos) that defines expectation of measurement given positions.
get_aoa_gdop
get_aoa_gdop_node	Calculate geometric dilution of precision for node in estimated formation.
get_aoa_gdop_rel	Calculation of relative GDOP is based on CRB.
get_aoa_gdops
get_crb	Calculates Cramer-Rao lower bound on covariance matrix of unbiased multihop location estimator based on sensor (distance/angle) measurement between in-commrange neighbors.
get_crb_norm	Calculates crb that is not dependent on scale i.e. to check correlation with gdop.
get_pos_norm	Translate positions so that centroid is in the origin and return mean norm of the translated positions.
get_rms	Returns root mean square error of estimated positions.
show_localized	Display estimated positions.
show_subclusters	Show colored subclusters.