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labrobotica
algorithms
gnss_utils
Commits
3a475cac
Commit
3a475cac
authored
5 years ago
by
Joan Vallvé Navarro
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2 changed files
include/gnss_utils/navigation.h
+42
-42
42 additions, 42 deletions
include/gnss_utils/navigation.h
src/navigation.cpp
+0
-1
0 additions, 1 deletion
src/navigation.cpp
with
42 additions
and
43 deletions
include/gnss_utils/navigation.h
+
42
−
42
View file @
3a475cac
...
...
@@ -13,24 +13,6 @@ extern "C"
namespace
GNSSUtils
{
//////////////////////////////// nav UTILS //////////////////////////////////////
template
<
typename
T
>
bool
addToArray
(
const
T
&
new_element
,
T
*
array
,
int
&
n
,
int
&
nmax
);
template
<
typename
T
>
bool
copyArray
(
const
T
*
array_in
,
const
int
&
n_in
,
T
*
array_out
,
int
&
n_out
,
int
&
nmax_out
);
template
<
typename
T
>
void
freeArray
(
T
*
array
,
int
&
n
,
int
&
nmax
);
void
freeNavArrays
(
nav_t
&
nav
);
void
freeEph
(
nav_t
&
nav
);
void
freeGeph
(
nav_t
&
nav
);
void
freeSeph
(
nav_t
&
nav
);
void
freePeph
(
nav_t
&
nav
);
void
freeAlm
(
nav_t
&
nav
);
void
freePclk
(
nav_t
&
nav
);
void
freeTec
(
nav_t
&
nav
);
void
freeFcb
(
nav_t
&
nav
);
//////////////////////////////// Navigation Class //////////////////////////////////////
class
Navigation
;
typedef
std
::
shared_ptr
<
Navigation
>
NavigationPtr
;
typedef
std
::
shared_ptr
<
const
Navigation
>
NavigationConstPtr
;
...
...
@@ -84,6 +66,23 @@ class Navigation
void
print
();
//////////////////////////////// nav UTILS //////////////////////////////////////
template
<
typename
T
>
static
bool
addToArray
(
const
T
&
new_element
,
T
*
array
,
int
&
n
,
int
&
nmax
);
template
<
typename
T
>
static
bool
copyArray
(
const
T
*
array_in
,
const
int
&
n_in
,
T
*
array_out
,
int
&
n_out
,
int
&
nmax_out
);
template
<
typename
T
>
static
void
freeArray
(
T
*
array
,
int
&
n
,
int
&
nmax
);
static
void
freeEph
(
nav_t
&
nav
);
static
void
freeGeph
(
nav_t
&
nav
);
static
void
freeSeph
(
nav_t
&
nav
);
static
void
freePeph
(
nav_t
&
nav
);
static
void
freeAlm
(
nav_t
&
nav
);
static
void
freePclk
(
nav_t
&
nav
);
static
void
freeTec
(
nav_t
&
nav
);
static
void
freeFcb
(
nav_t
&
nav
);
static
void
freeNavArrays
(
nav_t
&
nav
);
private:
// rtklib-like attribute to represent the different navigation msgs for a given epoch
...
...
@@ -251,7 +250,7 @@ inline void Navigation::freeAlmanac()
//////////////////////////////// nav UTILS //////////////////////////////////////
template
<
typename
T
>
bool
addToArray
(
const
T
&
new_element
,
T
*
array
,
int
&
n
,
int
&
nmax
)
bool
Navigation
::
addToArray
(
const
T
&
new_element
,
T
*
array
,
int
&
n
,
int
&
nmax
)
{
// "inspired" from RTKLIB rinex.c
T
*
array_ref
;
...
...
@@ -273,7 +272,7 @@ bool addToArray(const T &new_element, T *array, int &n, int &nmax)
}
template
<
typename
T
>
bool
copyArray
(
const
T
*
array_in
,
const
int
&
n_in
,
T
*
array_out
,
int
&
n_out
,
int
&
nmax_out
)
bool
Navigation
::
copyArray
(
const
T
*
array_in
,
const
int
&
n_in
,
T
*
array_out
,
int
&
n_out
,
int
&
nmax_out
)
{
if
(
array_in
==
NULL
)
return
false
;
...
...
@@ -286,7 +285,7 @@ bool copyArray(const T *array_in, const int &n_in, T *array_out, int &n_out, int
}
template
<
typename
T
>
void
freeArray
(
T
*
array
,
int
&
n
,
int
&
nmax
)
void
Navigation
::
freeArray
(
T
*
array
,
int
&
n
,
int
&
nmax
)
{
if
(
array
!=
NULL
)
free
(
array
);
...
...
@@ -294,57 +293,58 @@ void freeArray(T *array, int &n, int &nmax)
n
=
nmax
=
0
;
}
void
freeNavArrays
(
nav_t
&
nav
)
{
// RTKLIB "freenav(&nav_,255)" doesn't check if is NULL before freeing
freeEph
(
nav
);
freeGeph
(
nav
);
freeSeph
(
nav
);
freePeph
(
nav
);
freePclk
(
nav
);
freeAlm
(
nav
);
freeTec
(
nav
);
freeFcb
(
nav
);
}
void
freeEph
(
nav_t
&
nav
)
inline
void
Navigation
::
freeEph
(
nav_t
&
nav
)
{
freeArray
<
eph_t
>
(
nav
.
eph
,
nav
.
n
,
nav
.
nmax
);
}
void
freeGeph
(
nav_t
&
nav
)
inline
void
Navigation
::
freeGeph
(
nav_t
&
nav
)
{
freeArray
<
geph_t
>
(
nav
.
geph
,
nav
.
ng
,
nav
.
ngmax
);
}
void
freeSeph
(
nav_t
&
nav
)
inline
void
Navigation
::
freeSeph
(
nav_t
&
nav
)
{
freeArray
<
seph_t
>
(
nav
.
seph
,
nav
.
ns
,
nav
.
nsmax
);
}
void
freePeph
(
nav_t
&
nav
)
inline
void
Navigation
::
freePeph
(
nav_t
&
nav
)
{
freeArray
<
peph_t
>
(
nav
.
peph
,
nav
.
ne
,
nav
.
nemax
);
}
void
freeAlm
(
nav_t
&
nav
)
inline
void
Navigation
::
freeAlm
(
nav_t
&
nav
)
{
freeArray
<
alm_t
>
(
nav
.
alm
,
nav
.
na
,
nav
.
namax
);
}
void
freePclk
(
nav_t
&
nav
)
inline
void
Navigation
::
freePclk
(
nav_t
&
nav
)
{
freeArray
<
pclk_t
>
(
nav
.
pclk
,
nav
.
nc
,
nav
.
ncmax
);
}
void
freeTec
(
nav_t
&
nav
)
inline
void
Navigation
::
freeTec
(
nav_t
&
nav
)
{
freeArray
<
tec_t
>
(
nav
.
tec
,
nav
.
nt
,
nav
.
ntmax
);
}
void
freeFcb
(
nav_t
&
nav
)
inline
void
Navigation
::
freeFcb
(
nav_t
&
nav
)
{
freeArray
<
fcbd_t
>
(
nav
.
fcb
,
nav
.
nf
,
nav
.
nfmax
);
}
inline
void
Navigation
::
freeNavArrays
(
nav_t
&
nav
)
{
// RTKLIB "freenav(&nav_,255)" doesn't check if is NULL before freeing
freeEph
(
nav
);
freeGeph
(
nav
);
freeSeph
(
nav
);
freePeph
(
nav
);
freePclk
(
nav
);
freeAlm
(
nav
);
freeTec
(
nav
);
freeFcb
(
nav
);
}
}
#endif
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src/navigation.cpp
+
0
−
1
View file @
3a475cac
#include
"gnss_utils/navigation.h"
using
namespace
GNSSUtils
;
Navigation
::
Navigation
()
...
...
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