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); } - - } -- GitLab