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        "author": "Kamal Shadi",
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        "description": "# Localization\n\n### Introduction\nLocalization package provides tools for multilateration and triangulation in `2D`,`3D` and on `earth surface`.\nThe current model of the earth, supported by the package, is called `Earth1`.\nEarth1 models the earth as an ideal sphere having radius of 6378.1 kilometers.\n\n### Installation\nThe package has been tested with python2.7 and python3.6. Use pip to install the package:\n```\npip install localization\n```\n### Usage\n\nTypical usage of the package is:\n\n```python\nimport localization as lx\n```\nTo initilaize new localization Project use:\n\n```python\nP=lx.Project(mode=<mode>,solver=<solver>)\n```\n\nCurrently three modes are supported:\n - 2D\n - 3D\n - Earth1\n\nAlso three solvers can be used:\n - LSE for least square error\n - LSE_GC for least square error with geometric constraints. Geometric constraints force the solutions to be in the intersection areas of all multilateration circles.\n - CCA for centroid method, i.e., the solution will be the centroid of the intersection area. If no common intersection area exist, the area with maximum overlap is used.\n\nTo add anchors to the project use:\n\n```python\nP.add_anchor(<name>,<loc>)\n```\n\nwhere name denote user provided label of the anchor and <loc> is the location of the anchor provided in tuple, e.g., (120,60).\n\nTo add target use:\n\n```python\nt,label=P.add_target()\n```\n\nt is the target object and label is the package provided label for the target.\n\nDistance measurements must be added to target object like:\n\n```python\nt.add_measure(<anchore_lable>,<measured_distance>)\n```\n\nFinally running P.solve() will locate all targets. You can access the estimated location of the target t by t.loc.\nt.loc is a point object. Point object `B` has `x`,`y`,`z` coordinates available by `B.x`, `B.y`, `B.z` respectively.\n\nHere is a sample use of the package for three anchors and one target scenario:\n\n```python\nimport localization as lx\n\nP=lx.Project(mode='2D',solver='LSE')\n\n\nP.add_anchor('anchore_A',(0,100))\nP.add_anchor('anchore_B',(100,100))\nP.add_anchor('anchore_C',(100,0))\n\nt,label=P.add_target()\n\nt.add_measure('anchore_A',50)\nt.add_measure('anchore_B',50)\nt.add_measure('anchore_C',50)\n\nP.solve()\n\n# Then the target location is:\n\nprint(t.loc)\n```\n\n---\ncontact: __kamal.shadi85@gmail.com__\n\n\n",
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