diff --git a/R/intersectionCercles.R b/R/intersectionCercles.R
new file mode 100755
index 0000000..8dd2234
--- /dev/null
+++ b/R/intersectionCercles.R
@@ -0,0 +1,77 @@
+
+##############################
+# Calcule les ou le point d'intersection de deux cercle :
+# Cercle 1 de coordonnés (a1,b1) de rayon d1
+# Cercle 2 de coordonnés (a2,b2) de rayon d2
+# Precision = nombre de chiffre aprés la virgule
+##############################
+getIntersection=function(a1,b1,d1,a2,b2,d2,precision=5){
+  # Compute E (cf paper)
+  computeE=function(a1,b1,a2,b2){
+    numerateur=-2*a1+2*a2;
+    denominateur=-2*b1+2*b2;
+    return(numerateur/denominateur);
+  }
+  
+  # Compute F (cf paper)
+  computeF=function(a1,b1,d1,a2,b2,d2){
+    numerateur=a1^2+b1^2-a2^2-b2^2-d1^2+d2^2;
+    denominateur=-2*b1+2*b2;
+    return(numerateur/denominateur);
+  }
+  
+  # Compute intersections if b1 != b2
+  computeYNotEqual=function(a1,b1,d1,a2,b2,d2){
+    E=computeE(a1,b1,a2,b2);
+    F=computeF(a1,b1,d1,a2,b2,d2);
+    A=E^2+1;
+    B=(-2*a1+2*E*F+2*E*b1);
+    C=2*F*b1+b1^2+a1^2+F^2-d1^2;
+    
+    values=polyroot(c(C,B,A));
+    x=c();
+    y=c();
+    for(i in 1:length(values)){
+      if(round(Im(values[i]),digit=precision)==0){
+        x=c(x,Re(values[i]));
+        y=c(y,-Re(values[i])*E-F);
+      }
+    }
+    if(length(x)==0){
+      return(NULL);
+    }
+    return(matrix(c(x,y),nrow=length(x),ncol=2));
+  }
+  
+  # Compute intersections if b1 == b2 and a1 != a2
+  computeYEqualAndXNotEqual=function(a1,b1,d1,a2,b2,d2){
+    G=-((a1^2-a2^2-d1^2+d2^2)/(-2*a1+2*a2));
+    A=1;
+    B=-2*b1;
+    C=G^2-2*G*a1+a1^2+b1^2-d1^2;
+    values=polyroot(c(C,B,A));
+    x=c();
+    y=c();
+    for(i in 1:length(values)){
+      if(round(Im(values[i]),digit=precision)==0){
+        x=c(x,G);
+        y=c(y,Re(values[i]));
+      }
+    }
+    if(length(y)==0){
+      return(NULL);
+    }
+    return(matrix(c(x,y),nrow=length(y),ncol=2));
+    
+  }
+  
+  # Compute intersections
+  if(b1!=b2){
+    return(computeYNotEqual(a1,b1,d1,a2,b2,d2));
+  }
+  else if(a1!=a2){
+    return(computeYEqualAndXNotEqual(a1,b1,d1,a2,b2,d2));
+  }
+  # No intersection found
+  return(NULL);
+}
\ No newline at end of file
diff --git a/R/loadDataExp.R b/R/loadDataExp.R
new file mode 100644
index 0000000..a18d1b8
--- /dev/null
+++ b/R/loadDataExp.R
@@ -0,0 +1,274 @@
+source(paste(dirname(sys.frame(1)$ofile),"/multilateration.R",sep=""))
+source(paste(dirname(sys.frame(1)$ofile),"/tools.R",sep=""))
+
+
+gw1=read.csv("~/data3/records/anchor_0")
+gw2=read.csv("~/data3/records/anchor_1")
+gw3=read.csv("~/data3/records/anchor_2")
+turtle=read.csv("~/data3/gps.csv")
+calibration=23.105559
+compass=data.frame(78,83,69,87)
+colnames(compass)<-c("N","S","E","W")
+
+toDeg=function(deg,min,sec){ return(deg+(min/60)+(sec/3600))}
+
+getDist=function(rssi){
+  lambda=0.34855535170329033
+  pt=0.050118723363
+  gt=1
+  gr=1
+  left=1/(pt*gt*gr)
+  right=10^((rssi-30)/10)
+  den=sqrt(left*right)
+  frac=1/den
+  return((lambda/(4*pi))*frac)
+  
+}
+
+addGPS=function(pos){
+  rownames(pos)<- as.character((200+(1:NROW(pos))))
+  plot<<-plot+geom_path(data=pos,aes(x=X1,y=X2),col="red",size=I(0.2))
+}
+addEst=function(pos){
+  
+  rownames(pos)<- as.character((100+(1:NROW(pos))))
+  
+  plot<<-plot+geom_point(data=pos,aes(x=X1,y=X2),col="purple",size=I(1))
+}
+addLim=function(){
+ plot<<- plot+xlim(c(-40,50)) +ylim(c(-1,70))+coord_fixed() 
+}
+toDF=function(vect){
+
+}
+
+
+getRelCoord=function(baseGW, relGW){
+  R=6371000 # Rayon de la terre
+  alpha=do.call(toDeg,as.list(baseGW[5:7]))
+  beta=do.call(toDeg,as.list(relGW[5:7]))
+  if(baseGW[8]!=relGW[8]){
+    beta=-beta
+  }
+  if(baseGW[8]==compass["W"]){
+    alpha=-alpha
+  }
+  if(relGW[8]==compass["W"]){
+    beta=-beta
+  }
+  x=R*sin((beta-alpha)*pi/180)
+
+  alpha=do.call(toDeg,as.list(baseGW[1:3]))
+  beta=do.call(toDeg,as.list(relGW[1:3]))
+  if(baseGW[4]!=relGW[4]){
+    beta=-beta
+  }
+  if(baseGW[4]==compass["S"]){
+    alpha=-alpha
+  }
+  if(relGW[4]==compass["S"]){
+    beta=-beta
+  }
+  y=R*sin((beta-alpha)*pi/180)
+
+  
+  return(c(x,y))
+}
+
+#g1=c(21,20,28.39,compass$S,55,29,28.69,compass$E)
+#g2=c(21,20,28.34,compass$S,55,29,29.44,compass$E)
+#g3=c(21,20,27.70,compass$S,55,29,28.70,compass$E)
+
+#g1=c(21,20,27.534,compass$S,55,29,27.941,compass$E)
+#g2=c(21,20,25.57,compass$S,55,29,28.35,compass$E)
+#g3=c(21,20,26.64,compass$S,55,29,28.098,compass$E)
+
+g1=c(21,20,28.806,compass$S,55,29,29.081,compass$E)
+g2=c(21,20,28.704,compass$S,55,29,28.157,compass$E)
+g3=c(21,20,27.864,compass$S,55,29,29.526,compass$E)
+
+a=getRelCoord(g1,g2)
+b=getRelCoord(g1,g3)
+c=rbind(c(0,0),a,b)
+
+plot=ggplot(data=data.frame(c))+geom_point(aes(x=X1,y=X2),colour="orange",shape=17,size=I(4))+coord_fixed()+ylab("Y (m)") + xlab("X (m)")
+
+#Do multilateration
+dist1=rbind(unlist(gw1[12]))
+dist2=rbind(unlist(gw2[12]))
+dist3=rbind(unlist(gw3[12]))
+dist=rbind(dist1,dist2,dist3)
+dist=getDist(dist+calibration)
+# estimated=NULL
+#  estimated=multilateration(c[,1],c[,2],dist)
+#  print(NCOL(estimated))
+#  
+# 
+#  if(NROW(estimated)>0){
+#    estimated=data.frame(t(estimated)) # generate warnings
+#    colnames(estimated)=c("X1","X2")
+#    addEst(estimated)
+#  }
+#  print(max(c(max(estimated[,1]),max(estimated[,2]))))
+# # Display Real position
+#  real=NULL
+#  for(i in 1:NROW(turtle)){
+#    tt=as.vector(c(unlist(turtle[i,][2:5]),unlist(turtle[i,][6:9])))
+#    real=rbind(real,getRelCoord(g1,tt))
+#  }
+#  if(NROW(real)>0){
+#    real=data.frame(real)# generate warnings
+#    addGPS(real)
+#  }
+# 
+# # Plot graphic
+#  #addLim();
+#  print(plot)
+###########################################################
+# for(i in 1:NROW(turtle)){
+#   plot=ggplot(data=data.frame(c))+geom_point(aes(x=X1,y=X2),colour="orange",shape=17,size=I(4))#+xlim(c(-5,24)) +ylim(c(-1,22))+coord_fixed()
+#   
+#   estimated=multilateration(c[,1],c[,2],as.matrix(dist[,i]),stepByStep=TRUE)
+#   
+#   
+#   if(NROW(estimated)>0){
+#     estimated=data.frame(t(estimated))
+#     colnames(estimated)=c("X1","X2")
+#     plot=plot+geom_point(data=estimated,aes(x=X1,y=X2),col="purple",size=I(2))
+#   }
+#   # Display Real position
+#   real=NULL
+#   #for(i in 1:NROW(turtle)){
+#   tt=as.vector(c(unlist(turtle[i,][2:5]),unlist(turtle[i,][6:9])))
+#   real=rbind(real,getRelCoord(g1,tt))
+#   #}
+#   if(NROW(real)>0){
+#     real=data.frame(real)
+#     plot=plot+geom_point(data=real,aes(x=X1,y=X2),col="red",size=I(1.5),shape=3)
+#   }
+#   
+#   # Plot graphic
+#   #print(plot)
+#   #readline(prompt="Press [enter] to continue")
+# }
+# ##########################################
+# for(i in 1:NROW(dist[1,])){
+# 
+#   estimated=multilateration(c[,1],c[,2],as.matrix(dist[,i]))
+# 
+#   plot=ggplot(data=data.frame(c))+geom_point(aes(x=X1,y=X2),colour="orange",shape=17,size=I(4))+coord_fixed()
+# 
+#   if(NROW(estimated)>0){
+#     estimated=data.frame(t(estimated))
+#     colnames(estimated)=c("X1","X2")
+#     plot=plot+geom_point(data=estimated,aes(x=X1,y=X2),col="purple",size=I(2))
+#   }
+#   # Display Real position
+#   real=NULL
+#   #for(i in 1:NROW(turtle)){
+#   tt=as.vector(c(unlist(turtle[i,][2:5]),unlist(turtle[i,][6:9])))
+#   real=rbind(real,getRelCoord(g1,tt))
+#   #}
+#   if(NROW(real)>0){
+#     real=data.frame(real)
+#     plot=plot+geom_point(data=real,aes(x=X1,y=X2),col="red",size=I(1.5),shape=3)
+#   }
+# 
+#   # Plot graphic
+#   if(NROW(estimated)!=0){
+#     print(plot)
+#     readline(prompt="Press [enter] to continue")
+#   }
+# }
+#########################################
+# estF=NULL
+# realF=NULL
+# for(i in 1:NROW(turtle)){
+#   cal=0
+#   estimated=multilateration(c[,1],c[,2],as.matrix(dist[,i]))
+#   while(NROW(estimated)==0){
+#     cal=cal+1
+#     curDist=as.matrix(dist[,i])-cal
+#     curDist[curDist<1]<-1
+#     estimated=multilateration(c[,1],c[,2],curDist)
+#     if(sum(curDist==1)==3){
+#       break
+#     }
+#   }
+#   if(NROW(estimated)>0){
+#     estF=rbind(estF,t(estimated))
+#   }
+#   else{
+#     estF=rbind(estF,c(0,0))
+#   }
+#   
+# 
+#   #estimated=multilateration(c[,1],c[,2],as.matrix(dist[,i])-cal)
+# 
+# 
+#   if(NROW(estimated)>0){
+#     estimated=data.frame(t(estimated))
+#     colnames(estimated)=c("X1","X2")
+#   }
+#   # Display Real position
+#   real=NULL
+#   #for(i in 1:NROW(turtle)){
+#   tt=as.vector(c(unlist(turtle[i,][2:5]),unlist(turtle[i,][6:9])))
+#   real=rbind(real,getRelCoord(g1,tt))
+#   #}
+#   if(NROW(real)>0){
+#     real=data.frame(real)
+#     realF=rbind(realF,real)
+#   }
+# 
+# 
+# }
+# estF=data.frame(estF)
+# realF=data.frame(realF)
+# plot=ggplot(data=data.frame(c))+geom_point(aes(x=X1,y=X2),colour="orange",shape=17,size=I(4))#+xlim(c(-5,24)) +ylim(c(-1,22))+coord_fixed()
+# plot=plot+geom_point(data=estF,aes(x=X1,y=X2,colour=seq(1,NROW(estF),by=5)),size=I(2))
+# plot=plot+geom_point(data=realF,aes(x=X1,y=X2),col="red",size=I(1.5),shape=3)
+# 
+# # Plot graphic
+# print(plot)
+
+
+
+
+
+estimated=optimizeRadius(c[,1],c[,2],as.matrix(dist), radiusStep = 0.1, zeroForNull = TRUE)
+#estimated=multilateration(c[,1],c[,2],as.matrix(dist))
+
+estimated=data.frame(t(estimated))
+colnames(estimated)=c("X1","X2")
+plot=plot+geom_point(data=estimated,aes(x=X1,y=X2),col="purple",size=I(2))
+
+# Display Real position
+real=NULL
+for(i in 1:NROW(turtle)){
+  tt=as.vector(c(unlist(turtle[i,][2:5]),unlist(turtle[i,][6:9])))
+  real=rbind(real,getRelCoord(g1,tt))
+}
+if(NROW(real)>0){
+  real=data.frame(real)
+  plot=plot+geom_point(data=real,aes(x=X1,y=X2),col="red",size=I(1.5),shape=3)
+}
+
+# Plot graphic
+addLim()
+print(plot)
+error=NULL
+nbFound=0
+for(i in 1:NROW(estimated)){
+  x1=estimated[i,1]
+  y1=estimated[i,2]
+  x2=real[i,1]
+  y2=real[i,2]
+  if(x1 !=0 && y1!=0){
+    error=c(error,computeCartDist(x1,y1,x2,y2))
+    nbFound=nbFound+1
+  }
+}
+errorMean=mean(error)
+print(paste("Mean error : ",errorMean, " for ",nbFound," points, donc ",nbFound*100/NROW(estimated),"% de points trouves",sep=""))
+
diff --git a/R/multilateration.R b/R/multilateration.R
new file mode 100755
index 0000000..454d8f6
--- /dev/null
+++ b/R/multilateration.R
@@ -0,0 +1,222 @@
+# Librairies nécessaire : plotrix
+
+source(paste(dirname(sys.frame(1)$ofile),"/intersectionCercles.R",sep=""))
+library("plotrix")
+
+##############################
+# Retourne la position estimée pour les différentes distance
+# gwX = une matrice des coordonnées en X de chaque gateway (attention à l'odre avec gwY) exemple :
+#       gwX1,gwX2,gwX3
+# gwY = une matrice des coordonnées en Y de chaque gateway (attention à l'odre avec gwX)
+# distances = une matrice, exemple pour trois gateway avec 4 points à trouvées :
+#
+#  d1gw1,d2gw1,d3gw1,d4gw1
+#  d1gw2,d2gw2,d3gw2,d4gw2
+#  d1gw3,d2gw3,d3gw3,d4gw3
+#
+# stepByStep = si a TRUE alors affiche la multilatération pour chaque points
+# precisionPlot = nombre d'unité en X et en Y lors de l'affichage de la multilatération pour chaque points
+##############################
+multilateration=function(gwX,gwY,distances,stepByStep=FALSE,precisionPlot=80){
+
+  # Check parameters
+  if(!is.vector(gwX)){
+    stop("gwX is not a vector")
+  }
+  else if(!is.vector(gwY)){
+    stop("gwY is not a vector")
+  }
+  else if(!is.matrix(distances)){
+    stop("distances is not a matrix")
+  }
+  else if(length(gwX)!=length(gwY)){
+    stop("gwX and gwY haven't the same length")
+  }
+  else if(NROW(distances)!= length(gwX)){
+    stop("Number of rows of distances have not the same length of the gwX and gwY")
+  }
+  
+  # Init convenience variables
+  nbGw=length(gwX);
+  nbDistances=NCOL(distances)
+  
+  # Get the middle point of a segment
+  getMiddleOfSegment=function(x1,y1,x2,y2){
+    x=(x1+x2)/2;
+    y=(y1+y2)/2;
+    return(c(x,y));
+  }
+  
+  # Get line equation from two of his points y=ax+b
+  getLineEquation=function(x1,y1,x2,y2){
+    eq=NULL;
+    if(x1!=x2){
+      a=(y1-y2)/(x1-x2);
+      b=y1-a*x1;
+      eq=c(a,b);
+    }
+    return(eq);
+  }
+  
+  # Get line equation of 2 circles intersections points
+  getIntersectionLineEquation=function(circlesIntersections){
+    if(NROW(circlesIntersections)>1){
+      lineEquation=getLineEquation(
+        circlesIntersections[1,1],circlesIntersections[1,2],
+        circlesIntersections[2,1],circlesIntersections[2,2]);
+      if(is.null(lineEquation)){
+        return(circlesIntersections[1,1]);
+      }
+      return(lineEquation);
+    }
+    return(NULL);
+  }
+  
+  # Build solution for each distances
+  sol=NULL;
+  for(i in 1:nbDistances){
+    linearLines=NULL;
+    xLines=NULL;
+    currentSol=NULL;
+    circlesIntersections=NULL;
+    
+    # Build lines equation for linearLines and xLines
+    for(j in 1:(nbGw-1)){
+      mainGw=c(gwX[j],gwY[j]);
+      for(k in (j+1):nbGw){
+        slaveGw=c(gwX[k],gwY[k])
+        currentCirclesIntersections=getIntersection(mainGw[1],mainGw[2],distances[j,i],slaveGw[1],slaveGw[2],distances[k,i]);
+        circlesIntersections=rbind(circlesIntersections,currentCirclesIntersections);
+        lineEquation=getIntersectionLineEquation(currentCirclesIntersections)
+        if(length(lineEquation)==1){
+          xLines=rbind(xLines,lineEquation)
+        }
+        else{
+          linearLines=rbind(linearLines,lineEquation)
+        }
+      }
+    }
+
+    # Build lines intersections
+    intersections=NULL;
+    if(NROW(linearLines)>0||length(xLines)>0){
+      # Get intersections with xLines
+      sapply(xLines,function(x){
+        if(NROW(linearLines)>0){
+          apply(linearLines,1,function(eq){
+            intersections<<-rbind(intersections,c(x,eq[1]*x+eq[2]))
+          });
+        }
+       
+      });
+      
+     # Get linearLines intersections
+      if(NROW(linearLines)>1){
+        for(j in 1:(NROW(linearLines)-1)){
+          mainLL=c(linearLines[j,1],linearLines[j,2]);
+          for(k in (j+1):(NROW(linearLines))){
+            slaveLL=c(linearLines[k,1],linearLines[k,2]);
+            toSolve=matrix(c(-mainLL[1],-slaveLL[1],1,1), ncol=2,nrow=2);
+            tryCatch({
+              solution=solve(toSolve,c(mainLL[2],slaveLL[2]))
+              intersections=rbind(intersections,solution)
+            },error=function(error){});
+           
+          }
+        }
+      }
+    }
+    
+    # Build solution, if we have intersections
+    if(NROW(intersections)>0){
+      currentSol=c(mean(intersections[,1]),mean(intersections[,2]));
+      sol=cbind(sol,currentSol);
+    }
+    # If we don't have intersections (middle of segment)
+    else{
+      if(NROW(linearLines)>0||length(xLines)>0){
+        currentSol=getMiddleOfSegment(
+          circlesIntersections[1,1],circlesIntersections[1,2],
+          circlesIntersections[2,1],circlesIntersections[2,2]
+          );
+       # sol=cbind(sol,currentSol);
+      }
+    }
+
+    # If we plot current solution
+    if(stepByStep){
+      # Plot gateways
+      plot(gwX,gwY,asp=1,xlim=c(-precisionPlot,precisionPlot),ylim=c(-precisionPlot,precisionPlot),pch=17, col="orange")
+      # Plot circles
+      for(j in 1:nbGw){
+        draw.circle(gwX[j],gwY[j],distances[j,i],lwd=0.5);
+      }
+      # Plot circles intersections
+      if(!is.null(circlesIntersections)){
+        apply(circlesIntersections,1,function(row){
+          lines(row[1],row[2],type="p",col="blue",pch=20)
+        });
+      }
+      if(!is.null(intersections)){
+        apply(intersections,1,function(row){
+          lines(row[1],row[2],type="p",col="black",pch=20)
+        });
+      }
+      if(!is.null(linearLines)){
+        apply(linearLines,1,function(row){
+          abline(row[2],row[1]);
+        });
+      }
+      
+      if(!is.null(xLines)){
+        sapply(xLines,function(x){
+          abline(v=x);
+        });
+      }
+      if(!is.null(sol)){
+        lines(sol[1],sol[2],type="p",col="red", pch=16)
+      }
+     
+      readline(prompt = "Press enter for next step...")
+    }
+    
+  }
+  return(sol);
+}
+
+##############################
+# Multilateration avec optimisation de la taille des cercles (prendre le plus petit rayon possible)
+# radiusStep = pas de réduction de la taille du rayon
+##############################
+optimizeRadius=function(gwX,gwY,distances,stepByStep=FALSE,precisionPlot=80, radiusStep=1,zeroForNull=FALSE){
+  sol=NULL;
+  for(i in 1:NCOL(distances)){
+    factor=0
+    curDistances=as.matrix(distances[,i])-factor
+    # Try to find solution without optimisation (factor=0)
+    estimated=multilateration(gwX,gwY,curDistances,stepByStep=stepByStep,precisionPlot=precisionPlot)
+    # Repeat multilateration until radius = 0
+    while(sum(curDistances<=0)!=NROW(gwX)){
+      factor=factor+radiusStep
+      curDistances=curDistances-factor # Reduce circles radius
+      curDistances[curDistances<0]<-0 # Put zero in negative radius
+      e=multilateration(gwX,gwY,curDistances,stepByStep=stepByStep,precisionPlot=precisionPlot) # Temporary solution
+      if(!is.null(e)){ # A better solution is found
+        estimated=e
+      }
+      else if(!is.null(estimated)){ # No other solution is possible
+        break;
+      }
+    }
+    if(zeroForNull && is.null(estimated)){
+        sol=cbind(sol,c(0,0))
+      
+    }
+    else{
+      if(!is.null(estimated)){
+        sol=cbind(sol,estimated)
+      }
+    }
+  }
+  return(sol)
+}
\ No newline at end of file
diff --git a/R/sx1276.R b/R/sx1276.R
new file mode 100755
index 0000000..8a1cd0c
--- /dev/null
+++ b/R/sx1276.R
@@ -0,0 +1,50 @@
+# Changer les paramètres plus bas et éxécuter ce fichier afin de calculer la durée
+# d'émission d'une trame en Lora sur le module sx1276
+# Voir sx1276 datasheet pour le détails de ces paramètres :
+PL=10  
+SF=12
+IH=0
+DE=0
+CR=1
+CRC=0
+BW=500*10^3
+nPreamble=6
+
+# Cf SX1276 datasheet
+getNPayload=function(PL,SF,IH,DE,CR,CRC){
+  numerateur=8*PL-4*SF+28+16*CRC-20*IH;
+  denominateur=4*(SF-2*DE);
+  ceil=ceiling(numerateur/denominateur);
+  np=(8+max(ceil*(CR+4),0));
+  return(np);
+}
+
+# Cf SX1276 datasheet
+getTPrembule=function(nPreamble,Rs){
+  return((nPreamble+4.25)*(1/Rs));
+}
+
+# Cf SX1276 datasheet
+getTPayload=function(nPayload,Rs){
+  return(nPayload*(1/Rs));  
+}
+
+# Cf SX1276 datasheet
+getRs=function(BW,SF){
+  Rs=BW/(2^SF)
+  return(Rs);
+}
+
+getTPacket=function(PL,SF,IH,DE,CR,CRC,BW,nPreamble){
+  Rs=getRs(BW,SF);
+  print(paste("Symbol duration",Rs,"s"))
+  tPrembule=getTPrembule(nPreamble,Rs);
+  print(paste("Preambule duration",tPrembule,"s"))
+  nPayload=getNPayload(PL,SF,IH,DE,CR,CRC);
+  tPayload=getTPayload(nPayload,Rs);
+  print(paste("Payload duration",tPayload,"s"))
+  return(tPrembule+tPayload);
+}
+
+# Afficher le calcule
+print(paste("Packet duration",getTPacket(PL,SF,IH,DE,CR,CRC,BW,nPreamble),"s"))
\ No newline at end of file
diff --git a/R/tools.R b/R/tools.R
new file mode 100755
index 0000000..6eaec75
--- /dev/null
+++ b/R/tools.R
@@ -0,0 +1,33 @@
+# Compute cartesian distance of two points
+computeCartDist=function(x1,y1,x2,y2){
+  return(sqrt((x2-x1)^2+(y2-y1)^2));
+}
+
+# Get line equation from two of his points y=ax+b
+getLineEquation=function(x1,y1,x2,y2){
+  eq=NULL;
+  if(x1!=x2){
+    a=(y1-y2)/(x1-x2)
+    b=y1-a*x1
+    eq=c(a,b)
+  }
+  return(eq)
+}
+
+# Get the middle point of a segment
+getMiddleOfSegment=function(x1,y1,x2,y2){
+  x=(x1+x2)/2;
+  y=(y1+y2)/2;
+  return(c(x,y));
+}
+
+# Convert dBm to Watt
+dBm2W=function(pdBm){
+  return((10^(pdBm/10))/1000);
+}
+
+# Convert Watt to dBm
+W2dBm=function(pW){
+  return(10*log10(1000*pW));
+}
+