From 11fad89fb2b654cfcb842c45f5330a8b87d0b24e Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Thu, 4 Jul 2019 09:19:42 +0200
Subject: [PATCH] removed static from getPos and cosmetics
---
include/gnss_utils/gnss_utils.h | 4 +-
src/CMakeLists.txt | 38 +++++++++----------
src/gnss_utils.cpp | 67 +++++++++++++++++----------------
3 files changed, 57 insertions(+), 52 deletions(-)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index c6ae53f..9d68ae9 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/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
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 8d054eb..407da06 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,30 +1,30 @@
# 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)
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index a833cc3..8cdfd57 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -1,36 +1,39 @@
#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;
+ }
}
--
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