diff --git a/CMakeLists.txt b/CMakeLists.txt
index 89e95670ed1f2a794ddf689e432f0f4c5e342e69..ce3a3ffaca46dc788875758ec6bf66e4006d9f09 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -43,15 +43,84 @@ IF(NOT BUILD_TESTS)
OPTION(BUILD_TESTS "Build Unit tests" ON)
ENDIF(NOT BUILD_TESTS)
-ADD_SUBDIRECTORY(src)
-
+# rtklib path
+SET(RTKLIB_DIR deps/RTKLIB)
+SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
+
+# driver source files
+SET(SOURCES
+ src/gnss_utils.cpp
+ src/observations.cpp
+ src/navigation.cpp
+ src/TDCP.cpp
+ src/utils.cpp)
+
+SET(RTKLIB_SRC
+ ${RTKLIB_SRC_DIR}/pntpos.c
+ ${RTKLIB_SRC_DIR}/rtkcmn.c
+ ${RTKLIB_SRC_DIR}/sbas.c
+ ${RTKLIB_SRC_DIR}/ephemeris.c
+ ${RTKLIB_SRC_DIR}/preceph.c
+ ${RTKLIB_SRC_DIR}/qzslex.c
+ ${RTKLIB_SRC_DIR}/rtcm.c
+ ${RTKLIB_SRC_DIR}/rtcm2.c
+ ${RTKLIB_SRC_DIR}/rtcm3.c
+ ${RTKLIB_SRC_DIR}/rtcm3e.c
+ ${RTKLIB_SRC_DIR}/ionex.c
+ ${RTKLIB_SRC_DIR}/rinex.c)
+
+
+# application header files
+SET(HEADERS
+ include/gnss_utils/gnss_utils.h
+ include/gnss_utils/utils.h
+ include/gnss_utils/observations.h
+ include/gnss_utils/navigation.h
+ include/gnss_utils/TDCP.h
+ ${RTKLIB_SRC_DIR}/rtklib.h)
+
+# Eigen #######
+FIND_PACKAGE(Eigen3 REQUIRED)
+
+# Boost #######
+set(Boost_USE_STATIC_LIBS OFF)
+set(Boost_USE_MULTITHREADED OFF)
+set(Boost_USE_STATIC_RUNTIME OFF)
+FIND_PACKAGE(Boost REQUIRED)
+
+# Adding libraries' directories
+link_directories(/usr/lib/x86_64-linux-gnu/)
+
+# Adding include directories
+INCLUDE_DIRECTORIES(include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTKLIB_SRC_DIR})
+
+# create the shared library
+ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
+TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
+
+# Installing
+INSTALL(TARGETS ${PROJECT_NAME}
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib/iri-algorithms
+ ARCHIVE DESTINATION lib/iri-algorithms)
+INSTALL(FILES ${HEADERS} DESTINATION include/iri-algorithms/gnss_utils)
+INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+
+
+# Examples
+ADD_SUBDIRECTORY(src/examples)
if(BUILD_TESTS)
# Enables testing for this directory and below.
# Note that ctest expects to find a test file in the build directory root.
# Therefore, this command should be in the source directory root.
#include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
- enable_testing()
MESSAGE("Building tests.")
+ enable_testing()
+endif()
+
+# Testing
+if(BUILD_TESTS)
+ add_subdirectory(test)
endif()
FIND_PACKAGE(Doxygen)
@@ -94,4 +163,4 @@ ELSE(UNIX)
COMMENT "uninstall only implemented in unix"
TARGET uninstall
)
-ENDIF(UNIX)
\ No newline at end of file
+ENDIF(UNIX)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index e90e6cc671916de3f6020fc17afd33d9d7600f9e..ec75472312f3add20a8730ce79abace251d5e674 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -43,13 +43,13 @@ namespace GNSSUtils
Navigation & _navigation,
const prcopt_t & _prcopt);
- ComputePosOutput computePosOwn(const Observations & _observations,
- Navigation & _navigation,
- const prcopt_t & _prcopt);
+ // ComputePosOutput computePosOwn(const Observations & _observations,
+ // Navigation & _navigation,
+ // const prcopt_t & _prcopt);
- int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
- const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
- char *msg);
+ // int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
+ // const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
+ // char *msg);
int estposOwn(const obsd_t *obs, int n, const double *rs, const double *dts,
const double *vare, const int *svh, const nav_t *nav,
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
deleted file mode 100644
index 50ebf67d4a0e1fd5c24c36acd902508a6206c828..0000000000000000000000000000000000000000
--- a/src/CMakeLists.txt
+++ /dev/null
@@ -1,71 +0,0 @@
-# rtklib path
-SET(RTKLIB_DIR ../deps/RTKLIB)
-SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
-
-# driver source files
-SET(SOURCES
- gnss_utils.cpp
- observations.cpp
- navigation.cpp
- TDCP.cpp
- utils.cpp)
-
-SET(RTKLIB_SRC
- ${RTKLIB_SRC_DIR}/pntpos.c
- ${RTKLIB_SRC_DIR}/rtkcmn.c
- ${RTKLIB_SRC_DIR}/sbas.c
- ${RTKLIB_SRC_DIR}/ephemeris.c
- ${RTKLIB_SRC_DIR}/preceph.c
- ${RTKLIB_SRC_DIR}/qzslex.c
- ${RTKLIB_SRC_DIR}/rtcm.c
- ${RTKLIB_SRC_DIR}/rtcm2.c
- ${RTKLIB_SRC_DIR}/rtcm3.c
- ${RTKLIB_SRC_DIR}/rtcm3e.c
- ${RTKLIB_SRC_DIR}/ionex.c
- ${RTKLIB_SRC_DIR}/rinex.c)
-
-
-# application header files
-SET(HEADERS
- ../include/gnss_utils/gnss_utils.h
- ../include/gnss_utils/utils.h
- ../include/gnss_utils/observations.h
- ../include/gnss_utils/navigation.h
- ../include/gnss_utils/TDCP.h
- ${RTKLIB_SRC_DIR}/rtklib.h)
-
-# Eigen #######
-FIND_PACKAGE(Eigen3 REQUIRED)
-
-# Boost #######
-set(Boost_USE_STATIC_LIBS OFF)
-set(Boost_USE_MULTITHREADED OFF)
-set(Boost_USE_STATIC_RUNTIME OFF)
-FIND_PACKAGE(Boost REQUIRED)
-
-# Adding libraries' directories
-link_directories(/usr/lib/x86_64-linux-gnu/)
-
-# Adding include directories
-INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTKLIB_SRC_DIR})
-
-# create the shared library
-ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
-TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
-
-# Installing
-INSTALL(TARGETS ${PROJECT_NAME}
- RUNTIME DESTINATION bin
- LIBRARY DESTINATION lib/iri-algorithms
- ARCHIVE DESTINATION lib/iri-algorithms)
-INSTALL(FILES ${HEADERS} DESTINATION include/iri-algorithms/gnss_utils)
-INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
-
-# Testing
-if(BUILD_TESTS)
- MESSAGE("Building tests.")
- add_subdirectory(test)
-endif()
-
-# Examples
-ADD_SUBDIRECTORY(examples)
\ No newline at end of file
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index e4336e53f3972c4c57dec41f48c1ffb3889fee34..38acebf94269a7a6340c682f947b8333c7226073 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -52,54 +52,54 @@ namespace GNSSUtils
return output;
}
- ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,
- GNSSUtils::Navigation & _navigation,
- const prcopt_t & _prcopt)
- {
-
- // Remove duplicated satellites
- uniqnav(&(_navigation.getNavigation()));
-
- // Define error msg
- char msg[128] = "";
-
- GNSSUtils::ComputePosOutput output;
- sol_t sol;
- sol = {{0}};
-
- output.pos_stat = pntposOwn(_observations.data(), _observations.size(),
- &(_navigation.getNavigation()),
- &_prcopt, &sol, NULL, NULL, msg);
-
- if (output.pos_stat == 0)
- {
- std::cout << "Bad computing: " << msg << "\n";
- }
-
- output.time = sol.time.time;
- output.sec = sol.time.sec;
- output.pos = Eigen::Vector3d(sol.rr);
- // std::cout << "Compute pos: " << output.pos.transpose() << "\n";
- output.vel = Eigen::Vector3d(&sol.rr[3]);
- output.pos_covar << sol.qr[0], sol.qr[3], sol.qr[5],
- sol.qr[3], sol.qr[1], sol.qr[4],
- sol.qr[5], sol.qr[3], sol.qr[2];
-
- // XXX: segmentation fault here.
- // if (sol.dtr != NULL)
- // {
- // output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
- // }
-
- output.type = sol.type;
- output.stat = sol.stat;
- output.ns = sol.ns;
- output.age = sol.age;
- output.ratio = sol.ratio;
- output.lat_lon = ecefToLatLonAlt(output.pos);
-
- return output;
- }
+ // ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,
+ // GNSSUtils::Navigation & _navigation,
+ // const prcopt_t & _prcopt)
+ // {
+
+ // // Remove duplicated satellites
+ // uniqnav(&(_navigation.getNavigation()));
+
+ // // Define error msg
+ // char msg[128] = "";
+
+ // GNSSUtils::ComputePosOutput output;
+ // sol_t sol;
+ // sol = {{0}};
+
+ // output.pos_stat = pntposOwn(_observations.data(), _observations.size(),
+ // &(_navigation.getNavigation()),
+ // &_prcopt, &sol, NULL, NULL, msg);
+
+ // if (output.pos_stat == 0)
+ // {
+ // std::cout << "Bad computing: " << msg << "\n";
+ // }
+
+ // output.time = sol.time.time;
+ // output.sec = sol.time.sec;
+ // output.pos = Eigen::Vector3d(sol.rr);
+ // // std::cout << "Compute pos: " << output.pos.transpose() << "\n";
+ // output.vel = Eigen::Vector3d(&sol.rr[3]);
+ // output.pos_covar << sol.qr[0], sol.qr[3], sol.qr[5],
+ // sol.qr[3], sol.qr[1], sol.qr[4],
+ // sol.qr[5], sol.qr[3], sol.qr[2];
+
+ // // XXX: segmentation fault here.
+ // // if (sol.dtr != NULL)
+ // // {
+ // // output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
+ // // }
+
+ // output.type = sol.type;
+ // output.stat = sol.stat;
+ // output.ns = sol.ns;
+ // output.age = sol.age;
+ // output.ratio = sol.ratio;
+ // output.lat_lon = ecefToLatLonAlt(output.pos);
+
+ // return output;
+ // }
/* single-point positioning COPIED FROM RTKLIB ------------------------------
* compute receiver position, velocity, clock bias by single-point positioning
@@ -117,66 +117,66 @@ namespace GNSSUtils
* receiver bias are negligible (only involving glonass-gps time offset
* and receiver bias)
*-----------------------------------------------------------------------------*/
- int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
- const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
- char *msg)
- {
- prcopt_t opt_=*opt;
- double *rs,*dts,*var,*azel_,*resp;
- int i,stat,vsat[MAXOBS]={0},svh[MAXOBS];
-
- sol->stat=SOLQ_NONE;
-
- if (n<=0) {strcpy(msg,"no observation data"); return 0;}
-
- trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n);
-
- sol->time=obs[0].time; msg[0]='\0';
-
- rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel_=zeros(2,n); resp=mat(1,n);
-
- if (opt_.mode!=PMODE_SINGLE) { /* for precise positioning */
- #if 0
- opt_.sateph =EPHOPT_BRDC;
- #endif
- opt_.ionoopt=IONOOPT_BRDC;
- opt_.tropopt=TROPOPT_SAAS;
- }
- /* satellite positons, velocities and clocks */
- satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
-
- /* estimate receiver position with pseudorange */
- stat=estposOwn(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
-
- /* raim fde */
- if (!stat&&n>=6&&opt->posopt[4]) {
- stat=raim_fde(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
- }
- /* estimate receiver velocity with doppler */
- //if (stat) estvel(obs,n,rs,dts,nav,&opt_,sol,azel_,vsat);
-
- if (azel) {
- for (i=0;i<n*2;i++) azel[i]=azel_[i];
- }
- if (ssat) {
- for (i=0;i<MAXSAT;i++) {
- ssat[i].vs=0;
- ssat[i].azel[0]=ssat[i].azel[1]=0.0;
- ssat[i].resp[0]=ssat[i].resc[0]=0.0;
- ssat[i].snr[0]=0;
- }
- for (i=0;i<n;i++) {
- ssat[obs[i].sat-1].azel[0]=azel_[ i*2];
- ssat[obs[i].sat-1].azel[1]=azel_[1+i*2];
- ssat[obs[i].sat-1].snr[0]=obs[i].SNR[0];
- if (!vsat[i]) continue;
- ssat[obs[i].sat-1].vs=1;
- ssat[obs[i].sat-1].resp[0]=resp[i];
- }
- }
- free(rs); free(dts); free(var); free(azel_); free(resp);
- return stat;
- }
+ // int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
+ // const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
+ // char *msg)
+ // {
+ // prcopt_t opt_=*opt;
+ // double *rs,*dts,*var,*azel_,*resp;
+ // int i,stat,vsat[MAXOBS]={0},svh[MAXOBS];
+
+ // sol->stat=SOLQ_NONE;
+
+ // if (n<=0) {strcpy(msg,"no observation data"); return 0;}
+
+ // trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n);
+
+ // sol->time=obs[0].time; msg[0]='\0';
+
+ // rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel_=zeros(2,n); resp=mat(1,n);
+
+ // if (opt_.mode!=PMODE_SINGLE) { /* for precise positioning */
+ // #if 0
+ // opt_.sateph =EPHOPT_BRDC;
+ // #endif
+ // opt_.ionoopt=IONOOPT_BRDC;
+ // opt_.tropopt=TROPOPT_SAAS;
+ // }
+ // /* satellite positons, velocities and clocks */
+ // satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
+
+ // /* estimate receiver position with pseudorange */
+ // stat=estposOwn(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
+
+ // /* raim fde */
+ // if (!stat&&n>=6&&opt->posopt[4]) {
+ // stat=raim_fde(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
+ // }
+ // /* estimate receiver velocity with doppler */
+ // //if (stat) estvel(obs,n,rs,dts,nav,&opt_,sol,azel_,vsat);
+
+ // if (azel) {
+ // for (i=0;i<n*2;i++) azel[i]=azel_[i];
+ // }
+ // if (ssat) {
+ // for (i=0;i<MAXSAT;i++) {
+ // ssat[i].vs=0;
+ // ssat[i].azel[0]=ssat[i].azel[1]=0.0;
+ // ssat[i].resp[0]=ssat[i].resc[0]=0.0;
+ // ssat[i].snr[0]=0;
+ // }
+ // for (i=0;i<n;i++) {
+ // ssat[obs[i].sat-1].azel[0]=azel_[ i*2];
+ // ssat[obs[i].sat-1].azel[1]=azel_[1+i*2];
+ // ssat[obs[i].sat-1].snr[0]=obs[i].SNR[0];
+ // if (!vsat[i]) continue;
+ // ssat[obs[i].sat-1].vs=1;
+ // ssat[obs[i].sat-1].resp[0]=resp[i];
+ // }
+ // }
+ // free(rs); free(dts); free(var); free(azel_); free(resp);
+ // return stat;
+ // }
int estposOwn(const obsd_t *obs, int n, const double *rs, const double *dts,
const double *vare, const int *svh, const nav_t *nav,
diff --git a/src/test/CMakeLists.txt b/test/CMakeLists.txt
similarity index 100%
rename from src/test/CMakeLists.txt
rename to test/CMakeLists.txt
diff --git a/src/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
similarity index 100%
rename from src/test/gtest/CMakeLists.txt
rename to test/gtest/CMakeLists.txt
diff --git a/src/test/gtest/utils_gtest.h b/test/gtest/utils_gtest.h
similarity index 100%
rename from src/test/gtest/utils_gtest.h
rename to test/gtest/utils_gtest.h
diff --git a/src/test/gtest_example.cpp b/test/gtest_example.cpp
similarity index 100%
rename from src/test/gtest_example.cpp
rename to test/gtest_example.cpp
diff --git a/src/test/gtest_transformations.cpp b/test/gtest_transformations.cpp
similarity index 100%
rename from src/test/gtest_transformations.cpp
rename to test/gtest_transformations.cpp