trilateration 0.0.1 → 1.0.0

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data/.gitignore

@@ -0,0 +1,9 @@
+/.bundle/
+/.yardoc
+/Gemfile.lock
+/_yardoc/
+/coverage/
+/doc/
+/pkg/
+/spec/reports/
+/tmp/

data/.travis.yml

@@ -0,0 +1,6 @@
+language: ruby
+rvm:
+  - 2.2.7
+  - 2.3.4
+  - 2.4.1
+  - ruby-head

data/Gemfile

@@ -0,0 +1,4 @@
+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in trilateration.gemspec
+gemspec

data/README.md

@@ -1,10 +1,44 @@
+# Trilateration [![Build Status](https://travis-ci.org/timgentry/trilateration.svg?branch=master)](https://travis-ci.org/timgentry/trilateration)
+
 Trilateration calculates the position of an unknown point, using the distance from three known points to it.
 
-Example Usage:
+## Installation
+
+Add this line to your application's Gemfile:
+
+```ruby
+gem 'trilateration'
+```
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+    $ gem install trilateration
 
-p1 = Trilateration::Point.new(1,2)
-p2 = Trilateration::Point.new(8,6)
-p3 = Trilateration::Point.new(1,6)
+## Usage
+
+```ruby
+p1 = Vector[1, 2, 0]
+p2 = Vector[8, 6, 0]
+p3 = Vector[1, 6, 0]
 tri = Trilateration::Calculate.new(p1, p2, p3)
 
-output = tri.calculate_from_distances(4.02305854, 4.43677811, 3.87104637)
+output = tri.calculate_from_distances(4.02305854, 4.29941857, 3.87104637)
+```
+
+## Development
+
+After checking out the repo, run `bin/setup` to install dependencies. Then, run `bin/console` for an interactive prompt that will allow you to experiment.
+
+To install this gem onto your local machine, run `bundle exec rake install`. To release a new version, update the version number in `version.rb`, and then run `bundle exec rake release` to create a git tag for the version, push git commits and tags, and push the `.gem` file to [rubygems.org](https://rubygems.org).
+
+## Contributing
+
+1. Fork it ( https://github.com/timgentry/trilateration/fork )
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create a new Pull Request

data/Rakefile

@@ -0,0 +1,12 @@
+require 'bundler/gem_tasks'
+require 'rake/testtask'
+
+Rake::TestTask.new do |t|
+  t.libs << 'lib'
+  t.libs << 'test'
+  t.pattern = 'test/**/*_test.rb'
+  t.verbose = true
+end
+
+desc 'Run tests'
+task default: :test

data/bin/console

@@ -0,0 +1,10 @@
+#!/usr/bin/env ruby
+
+require 'bundler/setup'
+require 'trilateration'
+
+# You can add fixtures and/or initialization code here to make experimenting
+# with your gem easier. You can also use a different console, if you like.
+
+require 'pry'
+Pry.start

data/bin/setup

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+bundle install
+
+# Do any other automated setup that you need to do here

data/lib/trilateration.rb

@@ -1,2 +1,6 @@
+require 'trilateration/version'
 require 'trilateration/calculate'
-require 'trilateration/point'
+
+module Trilateration
+  # Your code goes here...
+end

data/lib/trilateration/calculate.rb

@@ -1,62 +1,55 @@
+require 'matrix'
+
 module Trilateration
   class Calculate
     attr_accessor :point1, :point2, :point3, :rel_point1, :rel_point2, :rel_point3
 
     # where point1 is our origin, and p2 and p3 are two other
     # sensors in which we know the relative positions
-    def initialize p1, p2, p3
+    def initialize(p1, p2, p3)
       @point1 = p1
       @point2 = p2
       @point3 = p3
 
       # adjust all the points so that they are relative to p1
-      @rel_point1 = Point.new(0, 0, 0)
-      @rel_point2 = get_relative_point(@point2, @point1)
-      @rel_point3 = get_relative_point(@point3, @point1)
+      @rel_point1 = Vector[0, 0, 0]
+      @rel_point2 = @point2 - @point1
+      @rel_point3 = @point3 - @point1
     end
 
-    # Trilaterating an X,Y coordinate of an object based on its distance 
+    # Trilaterating an X,Y coordinate of an object based on its distance
     # from three sensor points which are at known coordinate positions
     # input: target point relative to the first sensor
-    def calculate_from_distances dist1, dist2, dist3
-      x = ((dist1 ** 2) - (dist2 ** 2) + (@rel_point2.x ** 2)) / (2 * @rel_point2.x)
+    def calculate_from_distances(dist1, dist2, dist3)
+      # From Wikipedia: https://en.wikipedia.org/wiki/Trilateration
+      ex = @rel_point2 / @rel_point2.norm
+      i = ex.dot(@rel_point3)
+      ey = (@rel_point3 - (i * ex)) / (@rel_point3 - (i * ex)).norm
+      ez = ex.cross(ey)
+      d = @rel_point2.norm
+      j = ey.dot(@rel_point3)
 
-      a = ((dist1 ** 2) - (dist3 ** 2) + (@rel_point3.x ** 2) + (@rel_point3.y ** 2)) / (2 * @rel_point3.y)
-      b = (@rel_point3.x * dist1) / @rel_point3.y
+      x = (dist1**2 - dist2**2 + d**2) / (2 * d)
+      y = ((dist1**2 - dist3**2 + i**2 + j**2) / (2 * j)) - ((i / j) * x)
 
-      y = a - b
+      z = Math.sqrt((dist1**2 - x**2 - y**2).abs)
 
-      z = ((dist1 ** 2) - (x ** 2) - (y ** 2)) ** 0.5
-      
-      Point.new(x, y, z)
+      @point1 + (x * ex) + (y * ey) + (z * ez)
     end
 
     # used similarly as calculate_from_distances, except this is a test method
     # input: a target point whose coordinates from @point1 are already known,
     # in order to test the trilateration algorithm quickly
-    def calculate_from_test_point target_point
-      rel_target_point = get_relative_point(target_point, @point1)
-      dist1 = calculate_dist1(rel_target_point)
-      dist2 = calculate_dist2(rel_target_point)
-      dist3 = calculate_dist3(rel_target_point)
-
-      calculate_from_distances(dist1, dist2, dist3)    
-    end
-
-    def get_relative_point relative_point, origin_point
-      Point.new(relative_point.x - origin_point.x, relative_point.y - origin_point.y, relative_point.z - origin_point.z)
-    end
-
-    def calculate_dist1 target_point
-      ((target_point.x ** 2) + (target_point.y ** 2) + (target_point.z ** 2)) ** 0.5
-    end
+    def calculate_from_test_point(target_point)
+      dist1 = calculate_distance(target_point, @point1)
+      dist2 = calculate_distance(target_point, @point2)
+      dist3 = calculate_distance(target_point, @point3)
 
-    def calculate_dist2 target_point
-      (((target_point.x - @rel_point2.x) ** 2) + (target_point.y ** 2) + (target_point.z ** 2)) ** 0.5
+      calculate_from_distances(dist1, dist2, dist3)
     end
 
-    def calculate_dist3 target_point
-      (((target_point.x - @rel_point3.x) ** 2) + ((target_point.y - @rel_point3.y) ** 2) + (target_point.z ** 2)) ** 0.5
+    def calculate_distance(target_point, origin_point)
+      (target_point - origin_point).r
     end
   end
-end
+end

data/lib/trilateration/version.rb

@@ -0,0 +1,3 @@
+module Trilateration
+  VERSION = '1.0.0'.freeze
+end

data/trilateration.gemspec

@@ -1,15 +1,25 @@
-Gem::Specification.new do |s|
-  s.name        = 'trilateration'
-  s.version     = '0.0.1'
-  s.date        = '2014-05-29'
-  s.summary     = "Performs a trilateration operation in order to find an unknown point in a Cartesian coordinate system."
-  s.description = "Trilateration calculates the position of an unknown point, using the distance from three known points to it."
-  s.authors     = ["Patrick Read"]
-  s.email       = 'pread13@gmail.com'
-  s.files       = %w(LICENSE README.md trilateration.gemspec)
-  s.files       += Dir.glob('lib/**/*.rb')
-  s.files       += Dir.glob('spec/**/*')
-  s.test_files  = Dir.glob('tests/**/*')
-  s.homepage    = 'https://github.com/patrickread/trilateration'
-  s.license     = 'MIT'
-end
+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'trilateration/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = 'trilateration'
+  spec.version       = Trilateration::VERSION
+  spec.authors       = ['Patrick Read', 'Tim Gentry']
+
+  spec.summary       = %q(Performs a trilateration operation in order to find an unknown point in a Cartesian coordinate system.)
+  spec.description   = %q(Trilateration calculates the position of an unknown point, using the distance from three known points to it.)
+  spec.homepage      = 'https://github.com/patrickread/trilateration'
+  spec.license       = 'MIT'
+
+  spec.files         = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features)/}) }
+  spec.bindir        = 'exe'
+  spec.executables   = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
+  spec.require_paths = ['lib']
+
+  spec.add_development_dependency 'bundler', '~> 1.9'
+  spec.add_development_dependency 'rake', '~> 10.0'
+  spec.add_development_dependency 'minitest'
+  spec.add_development_dependency 'pry'
+end

metadata

@@ -1,28 +1,90 @@
 --- !ruby/object:Gem::Specification
 name: trilateration
 version: !ruby/object:Gem::Version
-  version: 0.0.1
+  version: 1.0.0
 platform: ruby
 authors:
 - Patrick Read
+- Tim Gentry
 autorequire: 
-bindir: bin
+bindir: exe
 cert_chain: []
-date: 2014-05-29 00:00:00.000000000 Z
-dependencies: []
+date: 2017-06-07 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.9'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.9'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: pry
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
 description: Trilateration calculates the position of an unknown point, using the
   distance from three known points to it.
-email: pread13@gmail.com
+email: 
 executables: []
 extensions: []
 extra_rdoc_files: []
 files:
+- ".gitignore"
+- ".travis.yml"
+- Gemfile
 - LICENSE
 - README.md
+- Rakefile
+- bin/console
+- bin/setup
 - lib/trilateration.rb
 - lib/trilateration/calculate.rb
-- lib/trilateration/point.rb
-- tests/test_trilateration.rb
+- lib/trilateration/version.rb
 - trilateration.gemspec
 homepage: https://github.com/patrickread/trilateration
 licenses:
@@ -44,10 +106,9 @@ required_rubygems_version: !ruby/object:Gem::Requirement
       version: '0'
 requirements: []
 rubyforge_project: 
-rubygems_version: 2.2.2
+rubygems_version: 2.4.8
 signing_key: 
 specification_version: 4
 summary: Performs a trilateration operation in order to find an unknown point in a
   Cartesian coordinate system.
-test_files:
-- tests/test_trilateration.rb
+test_files: []

data/lib/trilateration/point.rb

@@ -1,24 +0,0 @@
-module Trilateration
-  class Point
-    attr_accessor :x, :y, :z
-
-    # Third dimension is optional
-    def initialize pointX, pointY, pointZ=0
-      @x = pointX
-      @y = pointY
-      @z = pointZ
-    end
-
-    def x_rounded
-      @x.round(3)
-    end
-
-    def y_rounded
-      @y.round(3)
-    end
-
-    def z_rounded
-      @z.round(3)
-    end
-  end
-end

data/tests/test_trilateration.rb

@@ -1,26 +0,0 @@
-#!/usr/bin/env ruby
-
-require "minitest/autorun"
-require_relative '../lib/trilateration.rb'
-require_relative '../lib/point.rb'
-
-class TrilaterationTest < Minitest::Test
-
-  def test_trilateration
-    p1 = Point.new(1,2)
-    p2 = Point.new(8,6)
-    p3 = Point.new(1,6)
-    tri = Trilateration.new(p1, p2, p3)
-
-    test_output = tri.calculate_from_test_point(Point.new(4.25, 4.15, 1))
-    output = tri.calculate_from_distances(4.02305854, 4.43677811, 3.87104637)
-
-    assert_equal(test_output.x_rounded, output.x_rounded, "X Coordinate is not correct")
-    assert_equal(test_output.y_rounded, output.y_rounded, "Y Coordinate is not correct")
-
-    if (!test_output.z.is_a?(Complex))
-      refute_kind_of(Complex, output.z, "Z Coordinate shouldn't be a Complex")
-      assert_equal(test_output.z_rounded, output.z_rounded, "Z Coordinate is not correct")
-    end
-  end
-end