Skip to content
Snippets Groups Projects
Commit 1e53f759 authored by Pep Martí Saumell's avatar Pep Martí Saumell
Browse files

Compute pos working:

-> Use GNSS variables instead of pointers
-> uniqnav
-> Added non-const getNavigation method
parent d723310f
No related branches found
No related tags found
2 merge requests!20new tag,!19new tag
...@@ -38,9 +38,9 @@ namespace GNSSUtils ...@@ -38,9 +38,9 @@ namespace GNSSUtils
}; };
GNSSUtils::ComputePosOutput computePos(const Observations & _observations, GNSSUtils::ComputePosOutput computePos(const Observations & _observations,
const Navigation & _navigation, Navigation & _navigation,
const prcopt_t & _prcopt); const prcopt_t & _prcopt);
Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef); Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef);
} }
#endif #endif
...@@ -4,11 +4,11 @@ ...@@ -4,11 +4,11 @@
namespace GNSSUtils namespace GNSSUtils
{ {
GNSSUtils::ComputePosOutput computePos(const GNSSUtils::Observations & _observations, GNSSUtils::ComputePosOutput computePos(const GNSSUtils::Observations & _observations,
const GNSSUtils::Navigation & _navigation, GNSSUtils::Navigation & _navigation,
const prcopt_t & _prcopt) const prcopt_t & _prcopt)
{ {
// Remove duplicated satellites // Remove duplicated satellites
// uniqnav(&(_navigation.getNavigation())); uniqnav(&(_navigation.getNavigation()));
std::cout << "Number of navigation satellites: " << _navigation.getNavigation().n << "\n"; std::cout << "Number of navigation satellites: " << _navigation.getNavigation().n << "\n";
std::cout << "Number of observations: " << _observations.getObservations().size() << "\n"; std::cout << "Number of observations: " << _observations.getObservations().size() << "\n";
...@@ -73,8 +73,6 @@ namespace GNSSUtils ...@@ -73,8 +73,6 @@ namespace GNSSUtils
double pos[3]; double pos[3];
ecef2pos(&_ecef(0), pos); ecef2pos(&_ecef(0), pos);
return Eigen::Map<Eigen::Vector3d>(pos); return Eigen::Vector3d(pos);
} }
} }
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment