#!/usr/bin/env wolframscript
(* ::Package:: *)

fileName="one_case_data-3d.txt";
generateNewCase=1;
Import["sample_data_parser.wl"]
rangeX={Min[Table[dat[C][[i,1]]-dat[R][[i]],{i,1,dat[n]}]],
        Max[Table[dat[C][[i,1]]+dat[R][[i]],{i,1,dat[n]}]]};
rangeY={Min[Table[dat[C][[i,2]]-dat[R][[i]],{i,1,dat[n]}]],
        Max[Table[dat[C][[i,2]]+dat[R][[i]],{i,1dat[n]}]]};
rangeZ={Min[Table[dat[C][[i,3]]-dat[R][[i]],{i,1,dat[n]}]],
        Max[Table[dat[C][[i,3]]+dat[R][[i]],{i,1,dat[n]}]]};
graphColors={Darker[Red],Darker[Green],Darker[Blue],Darker[Cyan],
             Darker[Magenta],Darker[Yellow],Darker[Brown],Darker[Orange],
             Darker[Pink],Darker[Purple],
             LightRed,LightGreen,LightBlue,LightCyan,LightMagenta,LightYellow,
             LightBrown,LightOrange,LightPink};
centersGraph=Graphics3D[Table[{Thickness[Large],graphColors[[i]],
                               Point[dat[C][[i]]]},{i,1,dat[n]}]];
spheresGraph=Graphics3D[Table[{graphColors[[i]],Specularity[White,5],
                               Opacity[0.33],Sphere[dat[C][[i]],dat[R][[i]]]},
                              {i,1,dat[n]}]];
routesGraphs=Table[Graphics3D[{Thickness[Medium],Black,
                               Line[{Table[rts[[j]][[i]][P],
                                           {i,1,Length[rts[[j]]]}]}]
}],{j,1,Length[rts]}];
stFinGraphs=Table[Graphics3D[{
    {Thickness[Medium],Inset[Style["\[CircleTimes]",20],rts[[j,1]][P]]},
    {Thickness[Medium],Black,Inset[Style["\[CircleDot]",20],
                                   rts[[j,Length[rts[[j]]]]][P]]},
    {Thickness[Large],Black,Point[rts[[j,Length[rts[[j]]]]][P]]}
}],{j,1,Length[rts]}];
bestGuessGraph=Graphics3D[{Thickness[Large],Darker[Purple],Inset[Style["+",20],
                           bestGuess[P]]}];
bealPointGraph=Graphics3D[{Thickness[Large],Darker[Purple],Inset[Style["*",20],
                           dat[realPoint]]}];
"Maximum of sensors uncertainty: "<>ToString[dat[unc]]<>
"; Final error: "<>ToString[dat[error]]
Manipulate[
    Table[
        Show[centersGraph,
             Graphics3D[Table[{graphColors[[i]],Specularity[White,5],
                               Opacity[opac],Sphere[dat[C][[i]],dat[R][[i]]]},
                              {i,1,dat[n]}]],
             routesGraphs[[i]],stFinGraphs[[i]],bestGuessGraph,bealPointGraph],
        {i,1,Length[rts]}
    ],
{{opac,0.5,"Opacity"},0,1, Appearance->"Labeled"}]