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labrobotica
algorithms
gnss_utils
Commits
03027dd9
Commit
03027dd9
authored
6 years ago
by
Pep Martí Saumell
Browse files
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Patches
Plain Diff
Cleanup unused methods
parent
99533cca
No related branches found
No related tags found
2 merge requests
!4
Resolve "Enable Standard Point Positioning (SPP) computation"
,
!2
Resolve "Enable Standard Point Positioning (SPP) computation"
Changes
2
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2 changed files
include/gnss_utils/navigation.h
+0
-78
0 additions, 78 deletions
include/gnss_utils/navigation.h
src/navigation.cpp
+30
-594
30 additions, 594 deletions
src/navigation.cpp
with
30 additions
and
672 deletions
include/gnss_utils/navigation.h
+
0
−
78
View file @
03027dd9
...
@@ -37,95 +37,17 @@ namespace GNSSUtils
...
@@ -37,95 +37,17 @@ namespace GNSSUtils
// Ephemeris
// Ephemeris
void
allocateEphemeris
(
int
n_sat
=
MAXSAT
);
void
allocateEphemeris
(
int
n_sat
=
MAXSAT
);
void
deleteEphemeris
();
void
deleteEphemeris
();
void
allocateGLONASSEphemeris
(
int
n_sat
=
NSATGLO
);
void
allocateGLONASSEphemeris
(
int
n_sat
=
NSATGLO
);
void
deleteGLONASSEphemeris
();
void
deleteGLONASSEphemeris
();
void
allocateSBASEphemeris
(
int
n_sat
=
NSATSBS
*
2
);
//SBAS
void
allocateSBASEphemeris
(
int
n_sat
=
NSATSBS
*
2
);
//SBAS
void
deleteSBASEphemeris
();
void
deleteSBASEphemeris
();
void
allocateAlmanac
(
int
n_sat
=
MAXSAT
);
void
allocateAlmanac
(
int
n_sat
=
MAXSAT
);
void
deleteAlmanac
();
void
deleteAlmanac
();
// UTC
void
allocateUTCGPS
(
int
n
);
//GPS
void
deleteUTCGPS
();
void
allocateUTCGlo
(
int
n
);
// Glo
void
deleteUTCGlo
();
void
allocateUTCGal
(
int
n
);
// Galileo
void
deleteUTCGal
();
void
allocateUTCQZS
(
int
n
);
// QZS
void
deleteUTCQZS
();
void
allocateUTCCMP
(
int
n
);
// BeiDou
void
deleteUTCCMP
();
void
allocateUTCSBAS
(
int
n
);
// SBAS
void
deleteUTCSBAS
();
// Ionosphere
void
allocateIonGPS
(
int
n
);
// GPS
void
deleteIonGPS
();
void
allocateIonGal
(
int
n
);
// Galileo
void
deleteIonGal
();
void
allocateIonQZS
(
int
n
);
// QZS
void
deleteIonQZS
();
void
allocateIonCMP
(
int
n
);
// BeiDou
void
deleteIonCMP
();
//Others
void
allocatelam
(
int
n
);
void
deletelam
();
void
allocatecbias
(
int
n
);
void
deletecbias
();
void
allocatewlbias
(
int
n
);
void
deletewlbias
();
void
allocateglocpbias
(
int
n
);
void
deleteglocpbias
();
void
allocateglofcn
(
int
n
);
void
deleteglofcn
();
void
allocatepcv
(
int
n
);
void
deletepcv
();
void
allocatesbsion
(
int
n
);
void
deletesbsion
();
private:
private:
// rtklib-like attribute to represent the different navigation msgs for a given epoch
// rtklib-like attribute to represent the different navigation msgs for a given epoch
...
...
This diff is collapsed.
Click to expand it.
src/navigation.cpp
+
30
−
594
View file @
03027dd9
...
@@ -5,14 +5,7 @@ using namespace GNSSUtils;
...
@@ -5,14 +5,7 @@ using namespace GNSSUtils;
Navigation
::
Navigation
()
Navigation
::
Navigation
()
{
{}
//_nav = (nav_t *) malloc(sizeof(nav_t));
// allocateEphemeris();
// allocateGLONASSEphemeris();
// allocateSBASEphemeris();
//
// allocateAlmanac();
}
Navigation
::~
Navigation
()
Navigation
::~
Navigation
()
{
{
...
@@ -25,68 +18,11 @@ void Navigation::clearNavigation()
...
@@ -25,68 +18,11 @@ void Navigation::clearNavigation()
deleteEphemeris
();
deleteEphemeris
();
deleteGLONASSEphemeris
();
deleteGLONASSEphemeris
();
deleteSBASEphemeris
();
deleteSBASEphemeris
();
deleteAlmanac
();
deleteAlmanac
();
/*
this->deleteUTCGPS();
this->deleteUTCGlo();
this->deleteUTCGal();
this->deleteUTCQZS();
this->deleteUTCCMP();
this->deleteUTCSBAS();
this->deleteIonGPS();
this->deleteIonGal();
this->deleteIonQZS();
this->deleteIonCMP();
this->deletelam();
this->deletecbias();
this->deletewlbias();
this->deleteglocpbias();
this->deleteglofcn();
this->deletepcv();
this->deletesbsion();
*/
}
}
void
Navigation
::
setNavigation
(
nav_t
_nav
)
void
Navigation
::
setNavigation
(
nav_t
_nav
)
{
{
/*
allocateEphemeris();
allocateGLONASSEphemeris();
allocateSBASEphemeris();
allocateAlmanac();
this->allocateUTCGPS(4);
this->allocateUTCGlo(4);
this->allocateUTCGal(4);
this->allocateUTCQZS(4);
this->allocateUTCCMP(4);
this->allocateUTCSBAS(4);
this->allocateIonGPS(8);
this->allocateIonGal(4);
this->allocateIonQZS(8);
this->allocateIonCMP(8);
this->allocatelam(MAXSAT*NFREQ);
this->allocatecbias(MAXSAT*3);
this->allocatewlbias(MAXSAT);
this->allocateglocpbias(4);
this->allocateglofcn(MAXPRNGLO+1);
this->allocatepcv(MAXSAT);
this->allocatesbsion(MAXBAND+1);
*/
nav_
=
_nav
;
nav_
=
_nav
;
}
}
...
@@ -126,18 +62,7 @@ void Navigation::allocateEphemeris(int n_sat)
...
@@ -126,18 +62,7 @@ void Navigation::allocateEphemeris(int n_sat)
void
Navigation
::
deleteEphemeris
()
void
Navigation
::
deleteEphemeris
()
{
{
//free(_nav.eph);
free
(
_nav
.
eph
);
/*
if (_nav->eph)
{
free(_nav->eph);
}
else
{
// Do nothing
}
*/
}
}
...
@@ -164,19 +89,17 @@ void Navigation::allocateGLONASSEphemeris(int n_sat)
...
@@ -164,19 +89,17 @@ void Navigation::allocateGLONASSEphemeris(int n_sat)
void
Navigation
::
deleteGLONASSEphemeris
()
void
Navigation
::
deleteGLONASSEphemeris
()
{
{
/*
free
(
_nav
->
geph
);
free
(
_nav
->
geph
);
// if (_nav->geph)
if (_nav->geph)
// {
{
// free(_nav->geph);
free(_nav->geph);
// }
}
//
// else
else
// {
{
// // Do nothing
// Do nothing
// }
}
//
*/
}
}
void
Navigation
::
allocateSBASEphemeris
(
int
n_sat
)
void
Navigation
::
allocateSBASEphemeris
(
int
n_sat
)
...
@@ -201,19 +124,16 @@ void Navigation::allocateSBASEphemeris(int n_sat)
...
@@ -201,19 +124,16 @@ void Navigation::allocateSBASEphemeris(int n_sat)
void
Navigation
::
deleteSBASEphemeris
()
void
Navigation
::
deleteSBASEphemeris
()
{
{
/*
free
(
_nav
->
seph
);
free
(
_nav
->
seph
);
// if (_nav->seph)
if (_nav->seph)
// {
{
// free(_nav->seph);
free(_nav->seph);
// }
}
//
// else
else
// {
{
// // Do nothing
// Do nothing
// }
}
*/
}
}
void
Navigation
::
allocateAlmanac
(
int
n_sat
)
void
Navigation
::
allocateAlmanac
(
int
n_sat
)
...
@@ -238,499 +158,15 @@ void Navigation::allocateAlmanac(int n_sat)
...
@@ -238,499 +158,15 @@ void Navigation::allocateAlmanac(int n_sat)
void
Navigation
::
deleteAlmanac
()
void
Navigation
::
deleteAlmanac
()
{
{
/*
free
(
_nav
->
alm
);
free
(
_nav
->
alm
);
if (_nav->alm)
// if (_nav->alm)
{
// {
free(_nav->alm);
// free(_nav->alm);
}
// }
//
else
// else
{
// {
// Do nothing
// // Do nothing
}
// }
*/
}
// UTC
/*
void Navigation::allocateUTCGPS(int n) //GPS
{
if (_nav->utc_gps)
{
_nav->utc_gps = (double *)realloc(_nav->utc_gps, n * sizeof(double));
}
else
{
_nav->utc_gps = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteUTCGPS()
{
if (_nav->utc_gps)
{
free(_nav->utc_gps);
}
else
{
// Do nothing
}
}
void Navigation::allocateUTCGlo(int n) //GLONASS
{
if (_nav->utc_glo)
{
_nav->utc_glo = (double *)realloc(_nav->utc_glo, n * sizeof(double));
}
else
{
_nav->utc_glo = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteUTCGlo()
{
if (_nav->utc_glo)
{
free(_nav->utc_glo);
}
else
{
// Do nothing
}
}
void Navigation::allocateUTCGal(int n) //Galileo
{
if (_nav->utc_gal)
{
_nav->utc_gal = (double *)realloc(_nav->utc_gal, n * sizeof(double));
}
else
{
_nav->utc_gal = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteUTCGal()
{
if (_nav->utc_gal)
{
free(_nav->utc_gal);
}
else
{
// Do nothing
}
}
void Navigation::allocateUTCQZS(int n) //QZS
{
if (_nav->utc_qzs)
{
_nav->utc_qzs = (double *)realloc(_nav->utc_qzs, n * sizeof(double));
}
else
{
_nav->utc_qzs = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteUTCQZS()
{
if (_nav->utc_qzs)
{
free(_nav->utc_qzs);
}
else
{
// Do nothing
}
}
void Navigation::allocateUTCCMP(int n) //BeiDou
{
if (_nav->utc_cmp)
{
_nav->utc_cmp = (double *)realloc(_nav->utc_cmp, n * sizeof(double));
}
else
{
_nav->utc_cmp = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteUTCCMP()
{
if (_nav->utc_cmp)
{
free(_nav->utc_cmp);
}
else
{
// Do nothing
}
}
void Navigation::allocateUTCSBAS(int n) //SBAS
{
if (_nav->utc_sbs)
{
_nav->utc_sbs = (double *)realloc(_nav->utc_sbs, n * sizeof(double));
}
else
{
_nav->utc_sbs = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteUTCSBAS()
{
if (_nav->utc_sbs)
{
free(_nav->utc_sbs);
}
else
{
// Do nothing
}
}
// Ionosphere
void Navigation::allocateIonGPS(int n) //GPS
{
if (_nav->ion_gps)
{
_nav->ion_gps = (double *)realloc(_nav->ion_gps, n * sizeof(double));
}
else
{
_nav->ion_gps = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteIonGPS()
{
if (_nav->ion_gps)
{
free(_nav->ion_gps);
}
else
{
// Do nothing
}
}
void Navigation::allocateIonGal(int n) //Galileo
{
if (_nav->utc_gal)
{
_nav->utc_gal = (double *)realloc(_nav->utc_gal, n * sizeof(double));
}
else
{
_nav->utc_gal = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteIonGal()
{
if (_nav->utc_gal)
{
free(_nav->utc_gal);
}
else
{
// Do nothing
}
}
void Navigation::allocateIonQZS(int n) //QZS
{
if (_nav->utc_qzs)
{
_nav->utc_qzs = (double *)realloc(_nav->utc_qzs, n * sizeof(double));
}
else
{
_nav->utc_qzs = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteIonQZS()
{
if (_nav->utc_qzs)
{
free(_nav->utc_qzs);
}
else
{
// Do nothing
}
}
void Navigation::allocateIonCMP(int n) //BeiDou
{
if (_nav->utc_cmp)
{
_nav->utc_cmp = (double *)realloc(_nav->utc_cmp, n * sizeof(double));
}
else
{
_nav->utc_cmp = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteIonCMP()
{
if (_nav->utc_cmp)
{
free(_nav->utc_cmp);
}
else
{
// Do nothing
}
}
// Others
void Navigation::allocatelam(int n)
{
if (_nav->lam)
{
_nav->lam = (double *)realloc(_nav->lam, n * sizeof(double));
}
else
{
_nav->lam = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deletelam()
{
if (_nav->lam)
{
free(_nav->lam);
}
else
{
// Do nothing
}
}
void Navigation::allocatecbias(int n)
{
if (_nav->cbias)
{
_nav->cbias = (double *)realloc(_nav->cbias, n * sizeof(double));
}
else
{
_nav->cbias = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deletecbias()
{
if (_nav->cbias)
{
free(_nav->cbias);
}
else
{
// Do nothing
}
}
void Navigation::allocatewlbias(int n)
{
if (_nav->wlbias)
{
_nav->wlbias = (double *)realloc(_nav->wlbias, n * sizeof(double));
}
else
{
_nav->wlbias = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deletewlbias()
{
if (_nav->wlbias)
{
free(_nav->wlbias);
}
else
{
// Do nothing
}
}
void Navigation::allocateglocpbias(int n)
{
if (_nav->glo_cpbias)
{
_nav->glo_cpbias = (double *)realloc(_nav->glo_cpbias, n * sizeof(double));
}
else
{
_nav->glo_cpbias = (double *) malloc(n * sizeof(double));
}
}
void Navigation::deleteglocpbias()
{
if (_nav->glo_cpbias)
{
free(_nav->glo_cpbias);
}
else
{
// Do nothing
}
}
void Navigation::allocateglofcn(int n)
{
if (_nav->glo_fcn)
{
_nav->glo_fcn = (char *)realloc(_nav->glo_fcn, n * sizeof(char));
}
else
{
_nav->glo_fcn = (char *) malloc(n * sizeof(char));
}
}
void Navigation::deleteglofcn()
{
if (_nav->glo_fcn)
{
free(_nav->glo_fcn);
}
else
{
// Do nothing
}
}
void Navigation::allocatepcv(int n)
{
if (_nav->pcvs)
{
_nav->pcvs = (pcv_t *)realloc(_nav->pcvs, n * sizeof(pcv_t));
}
else
{
_nav->pcvs = (pcv_t*) malloc(n * sizeof(pcv_t));
}
}
void Navigation::deletepcv()
{
if (_nav->pcvs)
{
free(_nav->pcvs);
}
else
{
// Do nothing
}
}
void Navigation::allocatesbsion(int n)
{
if (_nav->sbsion)
{
_nav->sbsion = (sbsion_t *)realloc(_nav->sbsion, n * sizeof(sbsion_t));
}
else
{
_nav->sbsion = (sbsion_t*) malloc(n * sizeof(sbsion_t));
}
}
void Navigation::deletesbsion()
{
if (_nav->sbsion)
{
free(_nav->sbsion);
}
else
{
// Do nothing
}
}
}
*/
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