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labrobotica
algorithms
gnss_utils
Commits
3a959a6a
Commit
3a959a6a
authored
6 years ago
by
Pep Martí Saumell
Browse files
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Plain Diff
Receiver: Navigation and Observation attributes
parent
1faefa4d
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1 merge request
!2
Resolve "Enable Standard Point Positioning (SPP) computation"
Changes
2
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2 changed files
include/gnss_utils.h
+11
-25
11 additions, 25 deletions
include/gnss_utils.h
src/gnss_utils.cpp
+11
-41
11 additions, 41 deletions
src/gnss_utils.cpp
with
22 additions
and
66 deletions
include/gnss_utils.h
+
11
−
25
View file @
3a959a6a
...
...
@@ -4,6 +4,8 @@
#include
<vector>
#include
<iostream>
#include
<memory>
#include
"observations.h"
#include
"navigation.h"
extern
"C"
{
...
...
@@ -15,32 +17,16 @@ namespace GNSSUtils
class
Receiver
{
public:
// Public objects
// Constructor & Destructor
Receiver
();
~
Receiver
();
// Public objects
// Public methods
/* - Observations - */
void
clearObservations
();
void
pushObservation
(
obsd_t
obs
);
std
::
vector
<
obsd_t
>
getObservations
();
/* - Navigation - */
void
clearNavigation
();
void
setNavigation
(
nav_t
nav
);
nav_t
getNavigation
();
const
std
::
shared_ptr
<
GNSSUtils
::
Observations
>
getObs
();
const
std
::
shared_ptr
<
GNSSUtils
::
Navigation
>
getNav
();
/* - Processing Options - */
...
...
@@ -73,13 +59,13 @@ namespace GNSSUtils
int
computeSPP
(
double
*
azel
,
char
*
msg
);
pr
ivate
:
pr
otected
:
// Private objects
//
rtklib-like
attribute to represent the different observation msgs for a given epoch
std
::
vector
<
obsd_t
>
_
obs
Vector
;
//
GNSSUtils::Observation
attribute to represent the different observation msgs for a given epoch
std
::
shared_ptr
<
GNSSUtils
::
Observations
>
obs
_ptr_
;
//
rtklib-like
attribute to represent the different navigation msgs for a given epoch
nav_t
_nav
;
//
GNSSUtils::Navigation
attribute to represent the different navigation msgs for a given epoch
std
::
shared_ptr
<
GNSSUtils
::
Navigation
>
nav_ptr_
;
// rtklib-like attribute to represent the different options for a given epoch
prcopt_t
_opt
;
...
...
This diff is collapsed.
Click to expand it.
src/gnss_utils.cpp
+
11
−
41
View file @
3a959a6a
...
...
@@ -6,7 +6,8 @@ using namespace GNSSUtils;
Receiver
::
Receiver
()
{
obs_ptr_
=
std
::
make_shared
<
GNSSUtils
::
Observations
>
();
nav_ptr_
=
std
::
make_shared
<
GNSSUtils
::
Navigation
>
();
}
Receiver
::~
Receiver
()
...
...
@@ -14,43 +15,16 @@ Receiver::~Receiver()
}
/* - Observation - */
void
Receiver
::
clearObservations
()
{
_obsVector
.
clear
();
}
void
Receiver
::
pushObservation
(
obsd_t
obs
)
{
_obsVector
.
push_back
(
obs
);
}
std
::
vector
<
obsd_t
>
Receiver
::
getObservations
()
{
return
this
->
_obsVector
;
}
/* - Navigation - */
void
Receiver
::
clearNavigation
()
{
//_nav = NULL;
}
void
Receiver
::
setNavigation
(
nav_t
nav
)
const
std
::
shared_ptr
<
GNSSUtils
::
Observations
>
Receiver
::
getObs
()
{
_nav
=
nav
;
return
obs_ptr_
;
}
nav_t
Receiver
::
getNav
igation
()
const
std
::
shared_ptr
<
GNSSUtils
::
Navigation
>
Receiver
::
getNav
()
{
return
this
->
_nav
;
return
nav_ptr_
;
}
/* - Processing options - */
void
Receiver
::
clearOptions
()
...
...
@@ -109,20 +83,16 @@ ssat_t Receiver::getSatStatus()
int
Receiver
::
computeSPP
(
double
*
azel
,
char
*
msg
)
{
/*
const obsd_t *obs = &this->_obsVector[0];
int n = this->_obsVector.size();
/*
const nav_t *nav = this->_nav;
const prcopt_t *opt = this->_opt;
sol_t *sol = this->_sol;
ssat_t *ssat = this->_ssat;
*/
return
pntpos
(
obs
,
n
,
&
_nav
,
&
_opt
,
&
_sol
,
azel
,
&
_ssat
,
msg
);
}
// return pntpos(obs, n, &_nav, &_opt, &_sol, azel, &_ssat, msg);
return
0
;
}
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