<commit_before># -*- coding:Utf-8 -*-
#####################################################################
#This file is part of RGPA.

#Foobar 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 3 of the License, or
#(at your option) any later version.

#Foobar 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 Foobar.  If not, see <http://www.gnu.org/licenses/>.

#-------------------------------------------------------------------
#authors :
#<NAME>          : <EMAIL>
#<NAME>          : <EMAIL>
#<NAME>      : <EMAIL>
#####################################################################
from pylayers.util.project import *
import numpy as np
import scipy as sp
import time
import sys
from pylayers.location.geometric.util.boxn import *
from pylayers.location.geometric.util import geomview as g


class Constraint(object):
    """ Constraint class



    attributes
    ----------

    Constraint.C_Id : Contraint Identity automatically increased for new instanciation

    type    : contraint type
    time    : time stamp
    lbox    : LBoxN intialisation
    runable : boolean. information on constraint center ( TO DO)
    p       : Constraint center
    validity: validity duration ( not use yet)
    self.Id : Constraint.C_Id
    ndim    : Constraint dimension


    parmsh : dictionary
            keys :  ['display']=True     # launch geomview interactively
                    ['mode']='Current'   # display current box or full constraint
                    ['scene']=True      # display whole scene
                    ['point']=True       # display constraint point(s)
                    ['boxes']=True       # display constraint box
                    ['estimated']=True  # display estimated point
                    ['estimated_LS']=False # display estimated point with LS method
                    ['quadric']=True   # display sphere or hyperbola
                    ['grid']=True       # display grid
                    ['grav']=True


    methods
    -------

    info()     : Display information about constraint
    show3()    : display constraint on Geomview. Parameters tahnks to self.parmsh


    TODO
    ----
    ini file for geom view !

    """
    def __init__(self, type, id='0', p=np.array(()), origin={}):

        self.type = type
        self.time = time.time()
        self.lbox = LBoxN([])
        self.evaluated = False
        if p.any():
            self.runable = True
        else:
            self.runable = False
        self.p = p
        self.validity = 20                  # not used
        self.id = id  # Id of constraint is set to counter + 1
        self.ndim = len(p.T)
        self.origin = origin
        #
        # Parameters for show3 with geomview
        #
        self.parmsh = {}
        self.parmsh['display'] = True     # launch geomview interactively
        self.parmsh['mode'] = 'Current'   # display current box or full constraint
        self.parmsh['scene'] = False      # display whole scene
        self.parmsh['point'] = True       # display constraint point(s)
        self.parmsh['boxes'] = True       # display constraint box
        self.parmsh['estimated'] = True  # display estimated point
        self.parmsh['estimated_LS'] = False  # display estimated point with LS method
        self.parmsh['quadric'] = True   # display sphere or hyperbola
        self.parmsh['grid'] = True       # display grid
        self.parmsh['grav'] = True       # display box gravity center

    def updc(self,name='p',value=np.array(())):
        """ update values of a constraint

        Example :
        -------
        >>> from pylayers.location.geometric.constraints.toa import *
        >>> T=TOA()
        >>> T.usable
        True
        >>> T.p
        array([], dtype=float64)


        >>> T.updc('p',np.array((10,3)))
        >>> T.p
        array([10,  3])
        >>> T.updc('value',[np.nan])
        >>> T.usable
        False
        """
        if np.sum(np.isnan(value))<1 and value.size>0:
            setattr(self,name,value)

            # once p is set, constraint is runable
            if name =='p':
                self.runable = True

            # once value is set and constraint has a std value
            # condstraint is usable
            if name =='value':
                if np.sum(np.isnan(self.std))<1 and self.runable:
                    self.usable = True

            # once std is set and constraint has a value
            # condstraint is usable
            if name =='std':
                if np.sum(np.isnan(self.value))<1 and self.runable:
                    self.usable = True


        else :
            if name =='p':<commit_msg>resolved bug in loc<commit_after># -*- coding:Utf-8 -*-
#####################################################################
#This file is part of RGPA.

#Foobar 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 3 of the License, or
#(at your option) any later version.

#Foobar 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 Foobar.  If not, see <http://www.gnu.org/licenses/>.

#-------------------------------------------------------------------
#authors :
#<NAME>          : <EMAIL>
#<NAME>          : <EMAIL>
#<NAME>      : <EMAIL>
#####################################################################
from pylayers.util.project import *
import numpy as np
import scipy as sp
import time
import sys
from pylayers.location.geometric.util.boxn import *
from pylayers.location.geometric.util import geomview as g


class Constraint(object):
    """ Constraint class



    attributes
    ----------

    Constraint.C_Id : Contraint Identity automatically increased for new instanciation

    type    : contraint type
    time    : time stamp
    lbox    : LBoxN intialisation
    runable : boolean. information on constraint center ( TO DO)
    p       : Constraint center
    validity: validity duration ( not use yet)
    self.Id : Constraint.C_Id
    ndim    : Constraint dimension


    parmsh : dictionary
            keys :  ['display']=True     # launch geomview interactively
                    ['mode']='Current'   # display current box or full constraint
                    ['scene']=True      # display whole scene
                    ['point']=True       # display constraint point(s)
                    ['boxes']=True       # display constraint box
                    ['estimated']=True  # display estimated point
                    ['estimated_LS']=False # display estimated point with LS method
                    ['quadric']=True   # display sphere or hyperbola
                    ['grid']=True       # display grid
                    ['grav']=True


    methods
    -------

    info()     : Display information about constraint
    show3()    : display constraint on Geomview. Parameters tahnks to self.parmsh


    TODO
    ----
    ini file for geom view !

    """
    def __init__(self, type, id='0', p=np.array(()), origin={}):

        self.type = type
        self.time = time.time()
        self.lbox = LBoxN([])
        self.evaluated = False
        if p.any():
            self.runable = True
        else:
            self.runable = False
        self.p = p
        self.validity = 20                  # not used
        self.id = id  # Id of constraint is set to counter + 1
        self.ndim = len(p.T)
        self.origin = origin
        #
        # Parameters for show3 with geomview
        #
        self.parmsh = {}
        self.parmsh['display'] = True     # launch geomview interactively
        self.parmsh['mode'] = 'Current'   # display current box or full constraint
        self.parmsh['scene'] = False      # display whole scene
        self.parmsh['point'] = True       # display constraint point(s)
        self.parmsh['boxes'] = True       # display constraint box
        self.parmsh['estimated'] = True  # display estimated point
        self.parmsh['estimated_LS'] = False  # display estimated point with LS method
        self.parmsh['quadric'] = True   # display sphere or hyperbola
        self.parmsh['grid'] = True       # display grid
        self.parmsh['grav'] = True       # display box gravity center

    def updc(self,name='p',value=np.array(())):
        """ update values of a constraint

        Example :
        -------
        >>> from pylayers.location.geometric.constraints.toa import *
        >>> T=TOA()
        >>> T.usable
        True
        >>> T.p
        array([], dtype=float64)


        >>> T.updc('p',np.array((10,3)))
        >>> T.p
        array([10,  3])
        >>> T.updc('value',[np.nan])
        >>> T.usable
        False
        """

        if np.sum(np.isnan(value))<1 and value.size>0:
            setattr(self,name,value)

            # once p is set, constraint is runable
            if name =='p':
                self.runable = True

            # once value is set and constraint has a std value
            # condstraint is usable
            if name =='value':
                if np.sum(np.isnan(self.std))<1 and self.runable:
                    self.usable = True

            # once std is set and constraint has a value
            # condstraint is usable
            if name =='std':
                if np.sum(np.isnan(self.value))<1 and self.runable:
                    self.usable = True


        else :
            if name =='p':
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