removed static from getPos and cosmetics

include/gnss_utils/gnss_utils.h

@@ -14,6 +14,8 @@ extern "C"
 
 namespace GNSSUtils
 {
-  static int getPos(Observations obs, Navigation nav, sol_t sol);
+  int getPos(const std::shared_ptr<Observations> & _observations,
+            const std::shared_ptr<Navigation> & _navigation,
+            sol_t & _sol);
 }
 #endif

src/CMakeLists.txt

 # rtklib path
-set(rtklib_dir ../deps/RTKLIB)
-set(rtklib_src_dir ${rtklib_dir}/src)
+SET(RTKLIB_DIR ../deps/RTKLIB)
+SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
 
 # driver source files
-SET(sources
+SET(SOURCES
     gnss_utils.cpp
     observations.cpp
     navigation.cpp)
 
-SET(rtklib_src
-    ${rtklib_src_dir}/pntpos.c
-    ${rtklib_src_dir}/rtkcmn.c
-    ${rtklib_src_dir}/sbas.c
-    ${rtklib_src_dir}/ephemeris.c
-    ${rtklib_src_dir}/preceph.c
-    ${rtklib_src_dir}/qzslex.c
-    ${rtklib_src_dir}/rtcm.c
-    ${rtklib_src_dir}/rtcm2.c
-    ${rtklib_src_dir}/rtcm3.c
-    ${rtklib_src_dir}/rtcm3e.c
-    ${rtklib_src_dir}/ionex.c
-    ${rtklib_src_dir}/rinex.c)
+SET(RTKLIB_SRC
+    ${RTKLIB_SRC_DIR}/pntpos.c
+    ${RTKLIB_SRC_DIR}/rtkcmn.c
+    ${RTKLIB_SRC_DIR}/sbas.c
+    ${RTKLIB_SRC_DIR}/ephemeris.c
+    ${RTKLIB_SRC_DIR}/preceph.c
+    ${RTKLIB_SRC_DIR}/qzslex.c
+    ${RTKLIB_SRC_DIR}/rtcm.c
+    ${RTKLIB_SRC_DIR}/rtcm2.c
+    ${RTKLIB_SRC_DIR}/rtcm3.c
+    ${RTKLIB_SRC_DIR}/rtcm3e.c
+    ${RTKLIB_SRC_DIR}/ionex.c
+    ${RTKLIB_SRC_DIR}/rinex.c)
 
 
 # application header files
-SET(headers
+SET(HEADERS
     ../include/gnss_utils/gnss_utils.h
     ../include/gnss_utils/observations.h
     ../include/gnss_utils/navigation.h)
@@ -45,7 +45,7 @@ link_directories(/usr/lib/x86_64-linux-gnu/)
 INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
 
 # create the shared library
-ADD_LIBRARY(gnss_utils SHARED ${sources} ${rtklib_src})
+ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
 TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
 
 # Installing
@@ -53,7 +53,7 @@ INSTALL(TARGETS gnss_utils
         RUNTIME DESTINATION bin
         LIBRARY DESTINATION /usr/local/lib
         ARCHIVE DESTINATION lib)
-INSTALL(FILES ${headers} DESTINATION include/gnss_utils)
+INSTALL(FILES ${HEADERS} DESTINATION include/gnss_utils)
 # INSTALL(FILES ../gnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 ADD_SUBDIRECTORY(examples)

src/gnss_utils.cpp

 #include "gnss_utils/gnss_utils.h"
 
-using namespace GNSSUtils;
-
-static int getPos(Observations & observations, Navigation & navigation, sol_t sol)
+namespace GNSSUtils
 {
-  // Define observations
-  std::vector<obsd_t> obs = observations.getObservations();
-
-  // Define navigation
-  nav_t nav = navigation.getNavigation();
-
-  // Define processing options
-  prcopt_t prcopt = prcopt_default;
-  prcopt.mode = PMODE_SINGLE;
-  prcopt.soltype = 0;
-  prcopt.nf = 1;
-  prcopt.navsys = SYS_GPS;
-  //prcopt.elmin = 1.05;  // 60 degrees = 1.05 rad
-  prcopt.sateph = EPHOPT_BRDC;
-  prcopt.ionoopt = IONOOPT_OFF;
-  prcopt.tropopt = TROPOPT_OFF;
-  prcopt.dynamics = 0;
-  prcopt.tidecorr = 0;
-  prcopt.sbascorr = SBSOPT_FCORR;
-
-  // Define solution
-  sol_t solb={{0}};
-
-  // Define error msg
-  char msg[128]="";
-
-  int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
-
-  return stat;
+  int getPos(const std::shared_ptr<GNSSUtils::Observations> & _observations,
+            const std::shared_ptr<GNSSUtils::Navigation> & _navigation,
+            sol_t & _sol)
+  {
+    // Define observations
+    std::vector<obsd_t> obs = _observations->getObservations();
+
+    // Define navigation
+    nav_t nav = _navigation->getNavigation();
+
+    // Define processing options
+    prcopt_t prcopt = prcopt_default;
+    prcopt.mode = PMODE_SINGLE;
+    prcopt.soltype = 0;
+    prcopt.nf = 1;
+    prcopt.navsys = SYS_GPS;
+    //prcopt.elmin = 1.05;  // 60 degrees = 1.05 rad
+    prcopt.sateph = EPHOPT_BRDC;
+    prcopt.ionoopt = IONOOPT_OFF;
+    prcopt.tropopt = TROPOPT_OFF;
+    prcopt.dynamics = 0;
+    prcopt.tidecorr = 0;
+    prcopt.sbascorr = SBSOPT_FCORR;
+
+    // Define solution
+    sol_t solb={{0}};
+
+    // Define error msg
+    char msg[128]="";
+
+    int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
+
+    return stat;
+  }
 }