From 474f013c9ac974d0c5670d0943736a2ef210afde Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 15 Jun 2021 17:42:38 +0200
Subject: [PATCH] const parameters in tdcp
---
include/gnss_utils/tdcp.h | 6 +++---
src/tdcp.cpp | 8 ++++----
2 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/include/gnss_utils/tdcp.h b/include/gnss_utils/tdcp.h
index a543441..eb32399 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 7f93604..4188a44 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;
--
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