From 1e53f75974707e685079a046711c383900090256 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Wed, 6 Nov 2019 12:02:06 +0100
Subject: [PATCH] Compute pos working: -> Use GNSS variables instead of
 pointers -> uniqnav -> Added non-const getNavigation method

---
 include/gnss_utils/gnss_utils.h | 4 ++--
 src/gnss_utils.cpp              | 8 +++-----
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index 716a8fb..646dd91 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -38,9 +38,9 @@ namespace GNSSUtils
   };
 
   GNSSUtils::ComputePosOutput computePos(const Observations & _observations,
-                                    const Navigation & _navigation,
+                                    Navigation & _navigation,
                                     const prcopt_t & _prcopt);
-
+  
   Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef);
 }
 #endif
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index b5414ed..439e81b 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -4,11 +4,11 @@
 namespace GNSSUtils
 {
   GNSSUtils::ComputePosOutput computePos(const GNSSUtils::Observations & _observations,
-                                    const GNSSUtils::Navigation & _navigation,
+                                    GNSSUtils::Navigation & _navigation,
                                     const prcopt_t & _prcopt)
   {
     // Remove duplicated satellites
-    // uniqnav(&(_navigation.getNavigation()));
+    uniqnav(&(_navigation.getNavigation()));
 
     std::cout << "Number of navigation satellites: " << _navigation.getNavigation().n << "\n";
     std::cout << "Number of observations: " << _observations.getObservations().size() << "\n";
@@ -73,8 +73,6 @@ namespace GNSSUtils
     double pos[3];
     ecef2pos(&_ecef(0), pos);
 
-    return Eigen::Map<Eigen::Vector3d>(pos);
+    return Eigen::Vector3d(pos);
   }
-
-
 }
-- 
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