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Commit 1e53f759 authored by Pep Martí Saumell's avatar Pep Martí Saumell
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Compute pos working:

-> Use GNSS variables instead of pointers
-> uniqnav
-> Added non-const getNavigation method
parent d723310f
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2 merge requests!20new tag,!19new tag
......@@ -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
......@@ -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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