<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 
from pylayers.location.geometric.util.boxn import *
from pylayers.location.geometric.util import geomview as g
from pylayers.location.geometric.util.scene import *
import os
import sys
import numpydoc

#__docformat__ = 'reStructuredText'


class CLA(object):
	"""
	Constraint Layer Array class
	The Constraint Layer Array gather all constraints and process them.

	:Parameters:
	============
		c  : list
			contraints contained in CLA
		type : list
			types of contraints contained in CLA
		std  : list
			standard deviation of constraints
		vcw   : list
			scale factor of constraints
		Nc : integer
			Layer number of current processing
		pe :  np.array
			Position estimated
		dlayer  : dictionnary
			key : Layer number  
			value : list of Enclosed (0) and ambiguous (1) boxes.
		iter : integer
			current iteration of refine process
		erronous : list
			fills with number constraint which are not compatibleselfselfselfself.
	
	:Methods:
	=========
		info(self) 				: Give info

		rescale(self,f_vcw,cid=None) 		: rescale Constraint Box

		annulus_bound(self,cid=None) 		: rescale Constraint

		append(self,c)				: Append a Constraint to CLA

		setvcw(self,vcw):			: Set vcw for all constraint

		merge2(self,vcw_init=1.0)		: Merge all constraint from the CLA

		valid_v(self,lv,N)			: Test vertexes with all constraints

		refine(self,l,NBOXMAX=100,VOLMIN=0.1)	: reduce the validity zone

		show3(self,l=-1,amb=False,sc='all')	: show3	

		prob(self,c,d)				: Compute DDP for the given vertexes

		gapdetect(self,l,dlindx)		: Gap detection for bimodal solution

		min_dist(self,a,b)			: OBSOLETE

		estpos2(self,l=-1,amb=False)		: Position estimation
	"""
#	MEMBERS
#		Nc        : number of constraints
#		c         : list of constraints           			 1 x Nc
#		std       : list of standard deviation of constraints   	 1 x Nc
#			   if std = 0 it means the constraint is hard and it force the 
#			   the estimated point to belong to the bounding box of this 
#			   constraint 
#		w         : list of weight of constraints                        1 x Nc 
#			   if w = 0 it means the constraint is hard and it force the 
#			   the estimated point to belong to the bounding box of this 
#			   constraint 
#				
#		validity  : validity array (N x Nc)
#		dlayer    : dictionnary containing a list of 2 elements :
#				- the list of boxes that are inside the validity area (VA)
#				- the list of boxes which at least an edge is inside the validity area(VA)
#		dpe       : dictionnary containing the estimated points
#	:Methods:
#		info()
#		append(c,std)
#		remove(c,k)
#		merge2()
#		layer(lbox,l=-1)
#		grid(l=-1,Msz=1000)
#		eval(Msz=1000)
#		show3()
#		estpos(amb=False)

#	List of elementary Constraints 

	def __init__(self,parmsh={}):
		self.c    = []
		self.type = []
		self.std  = []
		self.w    = []
		self.vcw    = []
		self.Nc   = 0
		self.pe=np.array([])
		self.dlayer  = {}
		self.iter = 0
		self.erronous=[]
		self.id = []
		self.origin = []

		if len(parmsh) == 0 :
			self.parmsh=parmsh
			self.parmsh['display']=False     # launch geomview interactively 
			self.parmsh['scene']=False      # display whole scene
			self.parmsh['boxes']=True       # display constraint box
			self.parmsh['constr_boxes']=True       # display constraint box
			self.parmsh['estimated']=True  # display estimated point


		else :
			self.parmsh=parmsh
		
	def info(self):
		"""gives info on the CLA

		.. todo::

			improve info

		"""
		N = len(self.c)
		print "CLA : ",N," constraints"
		print "-----------------------"
		for k in range(N):
			print "Constraint N° ",k 
			self.c[k].info()


	def update(self):
		[c.update() for c in self.c if c.runable]

	def rescale(self,f_vcw,cid=None):
		"""idem setvcw but update current vcw with a multiplier factor

		change vcw for all constraints of the CLA
		
		...

		.. todo::

			Thing to PROPERLY merge with self.setvcw

		:Parameters:
			f_vcw : a scale factor of the current vcw of the constraint.
			cid : a list of constraints for which the self.vcw will be applied. If cid=None, all constraints are updates. default=None

		:Returns:<commit_msg>update cla.py<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 
from pylayers.location.geometric.util.boxn import *
from pylayers.location.geometric.util import geomview as g
from pylayers.location.geometric.util.scene import *
import os
import sys
import numpydoc

#__docformat__ = 'reStructuredText'


class CLA(object):
	"""
	Constraint Layer Array class
	The Constraint Layer Array gather all constraints and process them.

	:Parameters:
	============
		c  : list
			contraints contained in CLA
		type : list
			types of contraints contained in CLA
		std  : list
			standard deviation of constraints
		vcw   : list
			scale factor of constraints
		Nc : integer
			Layer number of current processing
		pe :  np.array
			Position estimated
		dlayer  : dictionnary
			key : Layer number  
			value : list of Enclosed (0) and ambiguous (1) boxes.
		iter : integer
			current iteration of refine process
		erronous : list
			fills with number constraint which are not compatibleselfselfselfself.
	
	:Methods:
	=========
		info(self) 				: Give info

		rescale(self,f_vcw,cid=None) 		: rescale Constraint Box

		annulus_bound(self,cid=None) 		: rescale Constraint

		append(self,c)				: Append a Constraint to CLA

		setvcw(self,vcw):			: Set vcw for all constraint

		merge2(self,vcw_init=1.0)		: Merge all constraint from the CLA

		valid_v(self,lv,N)			: Test vertexes with all constraints

		refine(self,l,NBOXMAX=100,VOLMIN=0.1)	: reduce the validity zone

		show3(self,l=-1,amb=False,sc='all')	: show3	

		prob(self,c,d)				: Compute DDP for the given vertexes

		gapdetect(self,l,dlindx)		: Gap detection for bimodal solution

		min_dist(self,a,b)			: OBSOLETE

		estpos2(self,l=-1,amb=False)		: Position estimation
	"""
#	MEMBERS
#		Nc        : number of constraints
#		c         : list of constraints           			 1 x Nc
#		std       : list of standard deviation of constraints   	 1 x Nc
#			   if std = 0 it means the constraint is hard and it force the 
#			   the estimated point to belong to the bounding box of this 
#			   constraint 
#		w         : list of weight of constraints                        1 x Nc 
#			   if w = 0 it means the constraint is hard and it force the 
#			   the estimated point to belong to the bounding box of this 
#			   constraint 
#				
#		validity  : validity array (N x Nc)
#		dlayer    : dictionnary containing a list of 2 elements :
#				- the list of boxes that are inside the validity area (VA)
#				- the list of boxes which at least an edge is inside the validity area(VA)
#		dpe       : dictionnary containing the estimated points
#	:Methods:
#		info()
#		append(c,std)
#		remove(c,k)
#		merge2()
#		layer(lbox,l=-1)
#		grid(l=-1,Msz=1000)
#		eval(Msz=1000)
#		show3()
#		estpos(amb=False)

#	List of elementary Constraints 

	def __init__(self,parmsh={}):
		self.c    = []
		self.type = []
		self.std  = []
		self.w    = []
		self.vcw    = []
		self.Nc   = 0
		self.pe=np.array([])
		self.dlayer  = {}
		self.iter = 0
		self.erronous=[]
		self.id = []
		self.origin = []

		if len(parmsh) == 0 :
			self.parmsh=parmsh
			self.parmsh['display']=False     # launch geomview interactively 
			self.parmsh['scene']=False      # display whole scene
			self.parmsh['boxes']=True       # display constraint box
			self.parmsh['constr_boxes']=True       # display constraint box
			self.parmsh['estimated']=True  # display estimated point


		else :
			self.parmsh=parmsh
		
	def info(self):
		"""gives info on the CLA

		.. todo::

			improve info

		"""
		N = len(self.c)
		print "CLA : ",N," constraints"
		print "-----------------------"
		for k in range(N):
			print "Constraint N° ",k 
			self.c[k].info()


	def update(self):
        """update
            
            update all constraints of the CLA
        """
		[c.update() for c in self.c if c.runable]

	def rescale(self,f_vcw,cid=None):
		"""idem setvcw but update current vcw with a multiplier factor

		change vcw for all constraints of the CLA
		
		...

		.. todo::

			Thing to PROPERLY merge with self.setvcw

		:Parameters:
			f_vcw : a scale factor of the current vcw of the constraint.
			cid : a list of constraints for which the self.vcw will be applied. If cid=None, all constraints are updates. default=None

		:Returns:
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