diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index 852b35d646caed9d0d7967d2181158bb68f3ee8f..db2efc751470a5d37c781c243747a4193058968c 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -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
diff --git a/src/observations.cpp b/src/observations.cpp
index 0ca80fd9e9612ec569a9e295375a40cbb3e76748..a90ea7084d576746ccf7fb1ba746447fcc6af09a 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -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;