diff --git a/include/gnss_utils/tdcp.h b/include/gnss_utils/tdcp.h index a543441d7c23fb1aba41b9303072c6ebffc50692..eb323991041bd191b3828f4631a428a72d43a4fe 100644 --- a/include/gnss_utils/tdcp.h +++ b/include/gnss_utils/tdcp.h @@ -66,9 +66,9 @@ TdcpOutput Tdcp(SnapshotPtr snapshot_r, TdcpOutput Tdcp(const Eigen::Vector3d& x_r, Eigen::MatrixXd& A, Eigen::VectorXd& r, - Eigen::VectorXd& drho_m, - Eigen::MatrixXd& s_k, - Eigen::MatrixXd& s_r, + const Eigen::VectorXd& drho_m, + const Eigen::MatrixXd& s_k, + const Eigen::MatrixXd& s_r, const Eigen::Vector4d& d_0, const double& var_tdcp, std::set<int>& raim_discarded_rows, diff --git a/src/tdcp.cpp b/src/tdcp.cpp index 7f9360477b07bbd520ae370a9e51cdcf483162df..4188a44491d0f794155c301eecfebe15025c8831 100644 --- a/src/tdcp.cpp +++ b/src/tdcp.cpp @@ -307,9 +307,9 @@ TdcpOutput Tdcp(SnapshotPtr snapshot_r, TdcpOutput Tdcp(const Eigen::Vector3d& x_r, Eigen::MatrixXd& A, Eigen::VectorXd& r, - Eigen::VectorXd& drho_m, - Eigen::MatrixXd& s_k, - Eigen::MatrixXd& s_r, + const Eigen::VectorXd& drho_m, + const Eigen::MatrixXd& s_k, + const Eigen::MatrixXd& s_r, const Eigen::Vector4d& d_0, const double& var_tdcp, std::set<int>& raim_discarded_rows, @@ -551,7 +551,7 @@ TdcpOutput Tdcp(const Eigen::Vector3d& x_r, A.row(worst_sat_row) = Eigen::Vector4d::Zero().transpose(); r(worst_sat_row) = 0; - // Choose de best RAIM solution + // Choose the best RAIM solution d = best_d; cov_d = (A.transpose() * A).inverse(); residual = best_residual;