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Commit 1d6d7cdd authored by Pep Martí Saumell's avatar Pep Martí Saumell
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[improvement] load rinex removed from observations

parent 6c1829ee
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3 merge requests!20new tag,!19new tag,!12Resolve "load from rinex outside classes"
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include/gnss_utils/observations.h
+ 25
− 38
View file @ 1d6d7cdd
......@@ -5,7 +5,6 @@
namespace GnssUtils
{
class Observations
{
public:
......@@ -15,34 +14,26 @@ public:
~Observations();
void clearObservations();
void addObservation(const obsd_t& obs);
void
loadFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt = 0.0, const char* opt = "");
void removeObservationByIdx(const int& _idx);
void removeObservationBySat(const int& _sat);
std::vector<obsd_t>& getObservations();
const std::vector<obsd_t>& getObservations() const;
obsd_t& getObservationBySat(const unsigned char& sat_number);
const obsd_t& getObservationBySat(const unsigned char& sat_number) const;
obsd_t& getObservationByIdx(const int& idx);
const obsd_t& getObservationByIdx(const int& idx) const;
obsd_t* data();
const obsd_t* data() const;
size_t size() const;
bool hasSatellite(const unsigned char& i) const;
static void print(obsd_t& _obs);
void printBySat(const int& _sat);
void printByIdx(const int& _idx);
void print();
void printBySat(const int& _sat);
void printByIdx(const int& _idx);
void print();
// Filter observations
std::set<int> filterByEphemeris(const SatellitesPositions& sats_pos);
......@@ -50,38 +41,35 @@ public:
std::set<int> filterByCode();
std::set<int> filterByCarrierPhase();
std::set<int> filterByConstellations(const int& navsys);
std::set<int> filterByElevationSnr(const Eigen::Vector3d& x_r,
std::set<int> filterByElevationSnr(const Eigen::Vector3d& x_r,
const SatellitesPositions& sats_pos,
const snrmask_t& snrmask,
const double& elmin);
std::set<int> filter(const SatellitesPositions& sats_pos,
const std::set<int>& discarded_sats,
const Eigen::Vector3d& x_r,
const bool& check_code,
const bool& check_carrier_phase,
const prcopt_t& opt);
std::set<int> filter(const SatellitesPositions& sats_pos,
const std::set<int>& discarded_sats,
const Eigen::Vector3d& x_r,
const bool& check_code,
const bool& check_carrier_phase,
const int& navsys,
const snrmask_t& snrmask,
const double& elmin);
static std::set<int> findCommonObservations(const Observations& obs_1,
const Observations& obs_2);
const snrmask_t& snrmask,
const double& elmin);
std::set<int> filter(const SatellitesPositions& sats_pos,
const std::set<int>& discarded_sats,
const Eigen::Vector3d& x_r,
const bool& check_code,
const bool& check_carrier_phase,
const prcopt_t& opt);
std::set<int> filter(const SatellitesPositions& sats_pos,
const std::set<int>& discarded_sats,
const Eigen::Vector3d& x_r,
const bool& check_code,
const bool& check_carrier_phase,
const int& navsys,
const snrmask_t& snrmask,
const double& elmin);
static std::set<int> findCommonObservations(const Observations& obs_1, const Observations& obs_2);
bool operator==(const Observations& other_obs) const;
bool operator !=(const Observations &other_obs) const;
bool operator!=(const Observations& other_obs) const;
private:
// Private objects
std::map<unsigned char, int> sat_2_idx_; //< key: corresponding sat number, value: idx in obs_ vector
std::vector<unsigned char> idx_2_sat_; //< key: idx in obs_ vector, value: corresponding sat number
std::vector<obsd_t> obs_; //< vector of RTKLIB observations for a given epoch
// Private methods
};
} // namespace GnssUtils
......@@ -92,7 +80,6 @@ private:
namespace GnssUtils
{
inline const std::vector<obsd_t>& Observations::getObservations() const
{
return this->obs_;
......@@ -147,9 +134,9 @@ inline bool Observations::hasSatellite(const unsigned char& i) const
return sat_2_idx_.count(i) != 0;
}
inline bool Observations::operator !=(const Observations &other_obs) const
inline bool Observations::operator!=(const Observations& other_obs) const
{
return !(*this == other_obs);
return !(*this == other_obs);
}
} // namespace GnssUtils
......
src/observations.cpp
+ 0
− 35
View file @ 1d6d7cdd
......@@ -74,41 +74,6 @@ void Observations::addObservation(const obsd_t& obs)
assert(sat_2_idx_.size() == obs_.size());
}
void Observations::loadFromRinex(const std::string& rnx_file,
gtime_t t_start,
gtime_t t_end,
double dt,
const char* opt)
{
obs_t obs;
obs.data = (obsd_t*)malloc(sizeof(obsd_t) * MAXSAT);
obs.n = 0;
obs.nmax = MAXSAT;
// const char* opt = "";
auto stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, &obs, NULL, NULL);
if (stat == 1)
sortobs(&obs);
else
{
std::cout << "Observation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error") << stat << std::endl;
return;
}
for (int i = 0; i < obs.n; i++)
{
// std::cout << "time: " << time_str(obs.data[i].time, 3) << " | sat: " << int(obs.data[i].sat) << " | rcv: " <<
// int(obs.data[i].rcv) <<
// " | SNR: " << int(obs.data[i].SNR[0]) << " | LLI: " << int(obs.data[i].LLI[0]) << " | code: " <<
// int(obs.data[i].code[0]) <<
// " | L: " << obs.data[i].L[0] << " | P: " << obs.data[i].P[0] << " | D: " << obs.data[i].D[0] <<
// std::endl;
addObservation(obs.data[i]);
}
free(obs.data);
}
void Observations::removeObservationByIdx(const int& _idx)
{
// std::cout << "removing observation of idx " << _idx << std::endl;
......
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