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Commit 11fad89f authored by Pep Martí Saumell's avatar Pep Martí Saumell
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removed static from getPos and cosmetics

parent 8b84149a
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2 merge requests!4Resolve "Enable Standard Point Positioning (SPP) computation",!2Resolve "Enable Standard Point Positioning (SPP) computation"
This commit is part of merge request !2. Comments created here will be created in the context of that merge request.
...@@ -14,6 +14,8 @@ extern "C" ...@@ -14,6 +14,8 @@ extern "C"
namespace GNSSUtils 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 #endif
# rtklib path # rtklib path
set(rtklib_dir ../deps/RTKLIB) SET(RTKLIB_DIR ../deps/RTKLIB)
set(rtklib_src_dir ${rtklib_dir}/src) SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
# driver source files # driver source files
SET(sources SET(SOURCES
gnss_utils.cpp gnss_utils.cpp
observations.cpp observations.cpp
navigation.cpp) navigation.cpp)
SET(rtklib_src SET(RTKLIB_SRC
${rtklib_src_dir}/pntpos.c ${RTKLIB_SRC_DIR}/pntpos.c
${rtklib_src_dir}/rtkcmn.c ${RTKLIB_SRC_DIR}/rtkcmn.c
${rtklib_src_dir}/sbas.c ${RTKLIB_SRC_DIR}/sbas.c
${rtklib_src_dir}/ephemeris.c ${RTKLIB_SRC_DIR}/ephemeris.c
${rtklib_src_dir}/preceph.c ${RTKLIB_SRC_DIR}/preceph.c
${rtklib_src_dir}/qzslex.c ${RTKLIB_SRC_DIR}/qzslex.c
${rtklib_src_dir}/rtcm.c ${RTKLIB_SRC_DIR}/rtcm.c
${rtklib_src_dir}/rtcm2.c ${RTKLIB_SRC_DIR}/rtcm2.c
${rtklib_src_dir}/rtcm3.c ${RTKLIB_SRC_DIR}/rtcm3.c
${rtklib_src_dir}/rtcm3e.c ${RTKLIB_SRC_DIR}/rtcm3e.c
${rtklib_src_dir}/ionex.c ${RTKLIB_SRC_DIR}/ionex.c
${rtklib_src_dir}/rinex.c) ${RTKLIB_SRC_DIR}/rinex.c)
# application header files # application header files
SET(headers SET(HEADERS
../include/gnss_utils/gnss_utils.h ../include/gnss_utils/gnss_utils.h
../include/gnss_utils/observations.h ../include/gnss_utils/observations.h
../include/gnss_utils/navigation.h) ../include/gnss_utils/navigation.h)
...@@ -45,7 +45,7 @@ link_directories(/usr/lib/x86_64-linux-gnu/) ...@@ -45,7 +45,7 @@ link_directories(/usr/lib/x86_64-linux-gnu/)
INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH}) INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
# create the shared library # 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}) TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
# Installing # Installing
...@@ -53,7 +53,7 @@ INSTALL(TARGETS gnss_utils ...@@ -53,7 +53,7 @@ INSTALL(TARGETS gnss_utils
RUNTIME DESTINATION bin RUNTIME DESTINATION bin
LIBRARY DESTINATION /usr/local/lib LIBRARY DESTINATION /usr/local/lib
ARCHIVE DESTINATION 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 ../gnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/) INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
ADD_SUBDIRECTORY(examples) ADD_SUBDIRECTORY(examples)
#include "gnss_utils/gnss_utils.h" #include "gnss_utils/gnss_utils.h"
using namespace GNSSUtils; namespace GNSSUtils
static int getPos(Observations & observations, Navigation & navigation, sol_t sol)
{ {
// Define observations int getPos(const std::shared_ptr<GNSSUtils::Observations> & _observations,
std::vector<obsd_t> obs = observations.getObservations(); const std::shared_ptr<GNSSUtils::Navigation> & _navigation,
sol_t & _sol)
// Define navigation {
nav_t nav = navigation.getNavigation(); // Define observations
std::vector<obsd_t> obs = _observations->getObservations();
// Define processing options
prcopt_t prcopt = prcopt_default; // Define navigation
prcopt.mode = PMODE_SINGLE; nav_t nav = _navigation->getNavigation();
prcopt.soltype = 0;
prcopt.nf = 1; // Define processing options
prcopt.navsys = SYS_GPS; prcopt_t prcopt = prcopt_default;
//prcopt.elmin = 1.05; // 60 degrees = 1.05 rad prcopt.mode = PMODE_SINGLE;
prcopt.sateph = EPHOPT_BRDC; prcopt.soltype = 0;
prcopt.ionoopt = IONOOPT_OFF; prcopt.nf = 1;
prcopt.tropopt = TROPOPT_OFF; prcopt.navsys = SYS_GPS;
prcopt.dynamics = 0; //prcopt.elmin = 1.05; // 60 degrees = 1.05 rad
prcopt.tidecorr = 0; prcopt.sateph = EPHOPT_BRDC;
prcopt.sbascorr = SBSOPT_FCORR; prcopt.ionoopt = IONOOPT_OFF;
prcopt.tropopt = TROPOPT_OFF;
// Define solution prcopt.dynamics = 0;
sol_t solb={{0}}; prcopt.tidecorr = 0;
prcopt.sbascorr = SBSOPT_FCORR;
// Define error msg
char msg[128]=""; // Define solution
sol_t solb={{0}};
int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
// Define error msg
return stat; char msg[128]="";
int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
return stat;
}
} }
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