diff --git a/CMakeLists.txt b/CMakeLists.txt
index 83308dba04ebf89da737631e192b2bfd2417a671..db9516005b5509776b09ccf178d2c9b2f8d78d72 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,7 +55,7 @@ SET(SOURCES
src/utils/sat_position.cpp
src/observations.cpp
src/navigation.cpp
- src/TDCP.cpp
+ src/tdcp.cpp
src/ublox_raw.cpp)
SET(RTKLIB_SRC
@@ -96,7 +96,7 @@ SET(HEADERS
include/gnss_utils/utils/sat_position.h
include/gnss_utils/observations.h
include/gnss_utils/navigation.h
- include/gnss_utils/TDCP.h
+ include/gnss_utils/tdcp.h
include/gnss_utils/ublox_raw.h
${RTKLIB_SRC_DIR}/rtklib.h)
diff --git a/include/gnss_utils/navigation.h b/include/gnss_utils/navigation.h
index 20f65a0ffb1e111a5ba68f5a1a4f22693e73b426..2fc13a71c0eb45a88b4570c4be33db1074b12c7b 100644
--- a/include/gnss_utils/navigation.h
+++ b/include/gnss_utils/navigation.h
@@ -1,5 +1,5 @@
-#ifndef NAVIGATION_H
-#define NAVIGATION_H
+#ifndef INCLUDE_GNSS_UTILS_NAVIGATION_H_
+#define INCLUDE_GNSS_UTILS_NAVIGATION_H_
#include <vector>
#include <iostream>
@@ -9,7 +9,7 @@ extern "C" {
#include "rtklib.h"
}
-namespace GNSSUtils
+namespace GnssUtils
{
class Navigation;
typedef std::shared_ptr<Navigation> NavigationPtr;
@@ -361,5 +361,5 @@ inline void Navigation::freeNavArrays(nav_t& nav)
freeFcb(nav);
}
-} // namespace GNSSUtils
-#endif
+} // namespace GnssUtils
+#endif // INCLUDE_GNSS_UTILS_NAVIGATION_H_
diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index 7fb34baa11663cccc738b0a127c63a3b9058203e..fd4a9214460dc1f49a8dde2949e8adffa6aee281 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -13,7 +13,7 @@ extern "C" {
#include "rtklib.h"
}
-namespace GNSSUtils
+namespace GnssUtils
{
class Observations;
typedef std::shared_ptr<Observations> ObservationsPtr;
@@ -131,5 +131,5 @@ inline bool Observations::hasSatellite(const unsigned char& i) const
return sat_2_idx_.count(i) != 0;
}
-} // namespace GNSSUtils
+} // namespace GnssUtils
#endif // INCLUDE_GNSS_UTILS_OBSERVATIONS_H_
diff --git a/include/gnss_utils/TDCP.h b/include/gnss_utils/tdcp.h
similarity index 84%
rename from include/gnss_utils/TDCP.h
rename to include/gnss_utils/tdcp.h
index 00f70f065ee7d76372e8f72848051bcca6e8a994..6d64e885bec90541f3fd4f3cc29fcc605576f277 100644
--- a/include/gnss_utils/TDCP.h
+++ b/include/gnss_utils/tdcp.h
@@ -1,5 +1,5 @@
/*
- * TDCP.h
+ * tdcp.h
*
* Created on: Dec 4, 2019
* Author: jvallve
@@ -16,9 +16,9 @@
#include "gnss_utils/observations.h"
#include "gnss_utils/navigation.h"
-namespace GNSSUtils
+namespace GnssUtils
{
-struct TDCPParams
+struct TdcpParams
{
int min_common_sats;
int raim_n;
@@ -36,7 +36,7 @@ struct TDCPParams
double time_window;
};
-bool TDCP(const Observations& obs_r,
+bool Tdcp(const Observations& obs_r,
Navigation& nav_r,
const Observations& obs_k,
const Navigation& nav_k,
@@ -44,10 +44,10 @@ bool TDCP(const Observations& obs_r,
Eigen::Matrix4d& cov_d,
double& residual,
std::set<int>& discarded_sats,
- const TDCPParams& sd_opt,
+ const TdcpParams& sd_opt,
const prcopt_t& opt);
-bool TDCP(const Observations& obs_r,
+bool Tdcp(const Observations& obs_r,
const Navigation& nav_r,
const Eigen::Vector3d& x_r,
const Observations& obs_k,
@@ -56,10 +56,10 @@ bool TDCP(const Observations& obs_r,
Eigen::Matrix4d& cov_d,
double& residual,
std::set<int>& discarded_sats,
- const TDCPParams& sd_opt,
+ const TdcpParams& sd_opt,
const prcopt_t& opt);
-bool TDCP(const Observations& common_obs_r,
+bool Tdcp(const Observations& common_obs_r,
const Navigation& nav_r,
const std::map<int, Eigen::Vector3d>& common_sats_pos_r,
const Eigen::Vector3d& x_r,
@@ -70,7 +70,7 @@ bool TDCP(const Observations& common_obs_r,
Eigen::Matrix4d& cov_d,
double& residual,
std::set<int>& discarded_sats,
- const TDCPParams& sd_opt);
+ const TdcpParams& sd_opt);
void filterCommonSatellites(Observations& common_obs_r,
std::map<int, Eigen::Vector3d>& common_sats_pos_r,
@@ -78,9 +78,9 @@ void filterCommonSatellites(Observations& common_obs_r,
std::map<int, Eigen::Vector3d>& common_sats_pos_k,
std::set<int>& discarded_sats,
const Eigen::Vector3d& x_r,
- const TDCPParams& sd_params,
+ const TdcpParams& sd_params,
const prcopt_t& opt);
-} // namespace GNSSUtils
+} // namespace GnssUtils
-#endif /* INCLUDE_GNSS_UTILS_TDCP_H_ */
+#endif /* INCLUDE_GNSS_UTILS_Tdcp_H_ */
diff --git a/include/gnss_utils/ublox_raw.h b/include/gnss_utils/ublox_raw.h
index 1c36ba27ab5b7eb107ee976c4c0061c4c04fae16..ecee80c79c836464b482ec686b264e7c4d87235c 100644
--- a/include/gnss_utils/ublox_raw.h
+++ b/include/gnss_utils/ublox_raw.h
@@ -1,10 +1,10 @@
-#ifndef UBLOX_RAW_H
-#define UBLOX_RAW_H
+#ifndef INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
+#define INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
#include "gnss_utils/observations.h"
#include "gnss_utils/navigation.h"
-namespace GNSSUtils
+namespace GnssUtils
{
enum RawDataType : int
{
@@ -27,9 +27,9 @@ public:
~UBloxRaw();
RawDataType addDataStream(const std::vector<u_int8_t>& data_stream);
-
+
const Observations& getObservations();
- const Navigation& getNavigation();
+ const Navigation& getNavigation();
RawDataType getRawDataType() const;
@@ -44,12 +44,12 @@ private:
void updateObservations();
};
-inline const GNSSUtils::Observations& UBloxRaw::getObservations()
+inline const GnssUtils::Observations& UBloxRaw::getObservations()
{
return obs_;
}
-inline const GNSSUtils::Navigation& UBloxRaw::getNavigation()
+inline const GnssUtils::Navigation& UBloxRaw::getNavigation()
{
return nav_;
}
@@ -59,6 +59,6 @@ inline RawDataType UBloxRaw::getRawDataType() const
return raw_data_type_;
}
-} // namespace GNSSUtils
+} // namespace GnssUtils
-#endif
+#endif // INCLUDE_GNSS_UTILS_UBLOX_RAW_H_
diff --git a/include/gnss_utils/utils/rcv_position.h b/include/gnss_utils/utils/rcv_position.h
index 55fbd80212233df121e339b21769ccb245597a95..77ec4e77ef3e8d3436601341b3e8868d6018433b 100644
--- a/include/gnss_utils/utils/rcv_position.h
+++ b/include/gnss_utils/utils/rcv_position.h
@@ -20,7 +20,7 @@ extern "C" {
#include "rtklib.h"
}
-namespace GNSSUtils
+namespace GnssUtils
{
struct ComputePosOutput
{
@@ -64,5 +64,5 @@ int estposOwn(const obsd_t* obs,
int* vsat,
double* resp,
char* msg);
-} // namespace GNSSUtils
+} // namespace GnssUtils
#endif // INCLUDE_GNSS_UTILS_UTILS_RCV_POSITION_H_
\ No newline at end of file
diff --git a/include/gnss_utils/utils/sat_position.h b/include/gnss_utils/utils/sat_position.h
index 2edb56c3a751b373a1ed26ddac76fc96250e2648..376d406a2a1f13b32ce7122d293df408e98085d9 100644
--- a/include/gnss_utils/utils/sat_position.h
+++ b/include/gnss_utils/utils/sat_position.h
@@ -20,7 +20,7 @@ extern "C" {
#include "rtklib.h"
}
-namespace GNSSUtils
+namespace GnssUtils
{
double computeSatElevation(const Eigen::Vector3d& receiver_ecef, const Eigen::Vector3d& sat_ecef);
@@ -28,5 +28,5 @@ void computeSatellitesPositions(const Observations& obs,
const Navigation& nav,
const prcopt_t& opt,
std::map<int, Eigen::Vector3d>& sats_pos);
-} // namespace GNSSUtils
+} // namespace GnssUtils
#endif // INCLUDE_GNSS_UTILS_UTILS_SAT_POSITION_H_
\ No newline at end of file
diff --git a/include/gnss_utils/utils/transformations.h b/include/gnss_utils/utils/transformations.h
index 494d5ece16e83e8c870655e947588f4ceb782ec3..ebed329289ac0d58e6555347a71634565dc108e9 100644
--- a/include/gnss_utils/utils/transformations.h
+++ b/include/gnss_utils/utils/transformations.h
@@ -16,7 +16,7 @@ extern "C" {
#include "rtklib.h"
}
-namespace GNSSUtils
+namespace GnssUtils
{
Eigen::Vector3d ecefToLatLonAlt(const Eigen::Vector3d& _ecef);
Eigen::Vector3d latLonAltToEcef(const Eigen::Vector3d& _latlon);
@@ -30,5 +30,5 @@ void computeEnuEcefFromLatLonAlt(const Eigen::Vector3d& _ENU_latlonalt,
Eigen::Matrix3d& R_ENU_ECEF,
Eigen::Vector3d& t_ENU_ECEF);
-} // namespace GNSSUtils
+} // namespace GnssUtils
#endif // INCLUDE_GNSS_UTILS_UTILS_TRANSFORMATIONS_H_
\ No newline at end of file
diff --git a/include/gnss_utils/utils/utils.h b/include/gnss_utils/utils/utils.h
index faa390ae290e2281cdab9a37f60633414dae048a..4b73a6ed1a870a03684a51fa4c71503dd3c24147 100644
--- a/include/gnss_utils/utils/utils.h
+++ b/include/gnss_utils/utils/utils.h
@@ -1,5 +1,5 @@
-#ifndef UTILS_H
-#define UTILS_H
+#ifndef INCLUDE_GNSS_UTILS_UTILS_UTILS_H_
+#define INCLUDE_GNSS_UTILS_UTILS_UTILS_H_
#include <vector>
#include <iostream>
@@ -7,13 +7,13 @@
#include <string>
#define ARRAY_SIZE(arr) sizeof(arr) / sizeof(arr[0])
-#define GNSSUTILS_MSG "--GNSSUtils--"
+#define GNSSUTILS_MSG "--GnssUtils--"
extern "C" {
#include "rtklib.h"
}
-namespace GNSSUtils
+namespace GnssUtils
{
void print(std::string& _msg);
void printArray(std::string _name, int* _array, int size);
@@ -40,6 +40,6 @@ bool equalTime(const gtime_t& time1, const gtime_t& time2);
bool equalObservations(const obsd_t& obs1, const obsd_t& obs2);
bool equalObservations(const obs_t& obs1, const obs_t& obs2);
-} // namespace GNSSUtils
+} // namespace GnssUtils
-#endif
\ No newline at end of file
+#endif // INCLUDE_GNSS_UTILS_UTILS_UTILS_H_
\ No newline at end of file
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 10520e09738af7396ba748bfea0b75bc6e6771be..1a59e2d85c7b3b41404f808283866c07703ec8a1 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -12,7 +12,7 @@ extern "C" {
#include "../deps/RTKLIB/src/rinex.c"
}
-using namespace GNSSUtils;
+using namespace GnssUtils;
int main(int argc, char* argv[])
{
diff --git a/src/navigation.cpp b/src/navigation.cpp
index 398d0a86f275b64f4d469a2bce0ddbdf3dba6172..66b861b71dc5587eb3bbb80b2dee0f43084ad40b 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -1,6 +1,6 @@
#include "gnss_utils/navigation.h"
-using namespace GNSSUtils;
+using namespace GnssUtils;
Navigation::Navigation()
{
diff --git a/src/observations.cpp b/src/observations.cpp
index e68fb8d216b9294de2d22232fe92cfb5d4a70ec7..64fa7508b2075720f81234e93b3e8b45d7e5496d 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -1,6 +1,6 @@
#include "gnss_utils/observations.h"
-using namespace GNSSUtils;
+using namespace GnssUtils;
Observations::Observations()
{
@@ -159,7 +159,7 @@ void Observations::removeObservationBySat(const int& _sat)
void Observations::print(obsd_t& _obs)
{
std::string msg = "Observation of satellite #" + std::to_string(_obs.sat);
- GNSSUtils::print(msg);
+ GnssUtils::print(msg);
std::cout << "Time [s]: " << _obs.time.time << " + " << _obs.time.sec << "\n";
printArray("SNR: ", _obs.SNR, ARRAY_SIZE(_obs.SNR));
printArray("LLI: ", _obs.LLI, ARRAY_SIZE(_obs.LLI));
diff --git a/src/TDCP.cpp b/src/tdcp.cpp
similarity index 92%
rename from src/TDCP.cpp
rename to src/tdcp.cpp
index 66e5a10997152c4544c7b6d1e5eaefa2cfa6028f..b38f9e26bd0924f693d045437f3477245af4810d 100644
--- a/src/TDCP.cpp
+++ b/src/tdcp.cpp
@@ -1,15 +1,15 @@
/*
- * TDCP.cpp
+ * tdcp.cpp
*
* Created on: Dec 4, 2019
* Author: jvallve
*/
-#include "../include/gnss_utils/TDCP.h"
+#include "gnss_utils/tdcp.h"
-namespace GNSSUtils
+namespace GnssUtils
{
-bool TDCP(const Observations& obs_r,
+bool Tdcp(const Observations& obs_r,
Navigation& nav_r,
const Observations& obs_k,
const Navigation& nav_k,
@@ -17,11 +17,11 @@ bool TDCP(const Observations& obs_r,
Eigen::Matrix4d& cov_d,
double& residual,
std::set<int>& discarded_sats,
- const TDCPParams& sd_params,
+ const TdcpParams& sd_params,
const prcopt_t& opt)
{
// COMPUTE SINGLE DIFFERENCES
- return TDCP(obs_r,
+ return Tdcp(obs_r,
nav_r,
computePos(obs_r, nav_r, opt).pos,
obs_k,
@@ -34,7 +34,7 @@ bool TDCP(const Observations& obs_r,
opt);
}
-bool TDCP(const Observations& obs_r,
+bool Tdcp(const Observations& obs_r,
const Navigation& nav_r,
const Eigen::Vector3d& x_r,
const Observations& obs_k,
@@ -43,7 +43,7 @@ bool TDCP(const Observations& obs_r,
Eigen::Matrix4d& cov_d,
double& residual,
std::set<int>& discarded_sats,
- const TDCPParams& sd_params,
+ const TdcpParams& sd_params,
const prcopt_t& opt)
{
// FIND COMMON SATELLITES OBSERVATIONS
@@ -61,7 +61,7 @@ bool TDCP(const Observations& obs_r,
common_obs_r, common_sats_pos_r, common_obs_k, common_sats_pos_k, discarded_sats, x_r, sd_params, opt);
// COMPUTE SINGLE DIFFERENCES
- return TDCP(common_obs_r,
+ return Tdcp(common_obs_r,
nav_r,
common_sats_pos_r,
x_r,
@@ -75,7 +75,7 @@ bool TDCP(const Observations& obs_r,
sd_params);
}
-bool TDCP(const Observations& common_obs_r,
+bool Tdcp(const Observations& common_obs_r,
const Navigation& nav_r,
const std::map<int, Eigen::Vector3d>& common_sats_pos_r,
const Eigen::Vector3d& x_r,
@@ -86,7 +86,7 @@ bool TDCP(const Observations& common_obs_r,
Eigen::Matrix4d& cov_d,
double& residual,
std::set<int>& discarded_sats,
- const TDCPParams& sd_params)
+ const TdcpParams& sd_params)
{
assert(common_obs_r.size() == common_obs_k.size());
assert(common_obs_r.size() == common_sats_pos_r.size());
@@ -101,8 +101,8 @@ bool TDCP(const Observations& common_obs_r,
if (n_common_sats < required_n_sats)
{
#if GNSS_UTILS_TDCP_DEBUG == 1
- printf("TDCP: NOT ENOUGH COMMON SATS");
- printf("TDCP: %i common sats available, %i sats are REQUIRED. [ SKIPPING TDCP ]", n_common_sats, required_n_sats);
+ printf("Tdcp: NOT ENOUGH COMMON SATS");
+ printf("Tdcp: %i common sats available, %i sats are REQUIRED. [ SKIPPING Tdcp ]", n_common_sats, required_n_sats);
#endif
return false;
}
@@ -263,7 +263,7 @@ bool TDCP(const Observations& common_obs_r,
// wrong solution
if (d.array().isNaN().any())
{
- std::cout << "TDCP: LSM DID NOT WORK. NAN values appeared. ABORTING!!" << std::endl;
+ std::cout << "Tdcp: LSM DID NOT WORK. NAN values appeared. ABORTING!!" << std::endl;
return false;
}
@@ -271,19 +271,19 @@ bool TDCP(const Observations& common_obs_r,
// residual = sqrt((r - A * delta_d).squaredNorm() / A.rows());
residual = (r + A * delta_d).norm();
// std::cout << "residual = " << residual << std::endl;
- // std::cout << "TDCP2: r-A*delta_d = " << (r + A * delta_d).transpose() << std::endl;
+ // std::cout << "Tdcp2: r-A*delta_d = " << (r + A * delta_d).transpose() << std::endl;
#if GNSS_UTILS_TDCP_DEBUG == 1
std::cout << "Displacement vector =" << d.head<3>().transpose() << std::endl;
std::cout << "Displacement update =" << delta_d.head<3>().transpose() << std::endl;
printf("Ref distance = %7.3f m\n", d_0.norm());
printf("Computed distance = %7.3f m\n", d.head<3>().norm());
- printf("TDCP: residual = %13.10f\n", residual);
- printf("TDCP: row = %i\n", r.rows());
- std::cout << "TDCP: drho = " << r.transpose() << std::endl;
- std::cout << "TDCP: drho_m = " << drho_m.transpose() << std::endl;
- std::cout << "TDCP: H = \n" << A << std::endl;
- printf("TDCP: dT = %8.3f secs\n", d(3));
+ printf("Tdcp: residual = %13.10f\n", residual);
+ printf("Tdcp: row = %i\n", r.rows());
+ std::cout << "Tdcp: drho = " << r.transpose() << std::endl;
+ std::cout << "Tdcp: drho_m = " << drho_m.transpose() << std::endl;
+ std::cout << "Tdcp: H = \n" << A << std::endl;
+ printf("Tdcp: dT = %8.3f secs\n", d(3));
#endif
// RAIM ====================================== (only at first iteration) RAIM WITH SATELLITES, not ROWS
@@ -338,10 +338,10 @@ bool TDCP(const Observations& common_obs_r,
std::cout << "Displacement update =" << delta_d_raim.head<3>().transpose() << std::endl;
printf("Ref distance = %7.3f m\n", d_0.norm());
printf("Computed distance = %7.3f m\n", d_raim.head<3>().norm());
- printf("TDCP: residual = %13.10f\n", residual);
- std::cout << "TDCP: drho = " << r_raim.transpose() << std::endl;
- std::cout << "TDCP: H = \n" << A_raim << std::endl;
- printf("TDCP: dT = %8.3f secs\n", d_raim(3));
+ printf("Tdcp: residual = %13.10f\n", residual);
+ std::cout << "Tdcp: drho = " << r_raim.transpose() << std::endl;
+ std::cout << "Tdcp: H = \n" << A_raim << std::endl;
+ printf("Tdcp: dT = %8.3f secs\n", d_raim(3));
#endif
// store if best residual
if (residual < best_residual)
@@ -363,7 +363,7 @@ bool TDCP(const Observations& common_obs_r,
// No successful RAIM solution
if (worst_sat_row == -1)
{
- printf("TDCP: LS after RAIM DID NOT WORK. NAN values appeared. ABORTING!!");
+ printf("Tdcp: LS after RAIM DID NOT WORK. NAN values appeared. ABORTING!!");
return false;
}
@@ -402,7 +402,7 @@ bool TDCP(const Observations& common_obs_r,
cov_d = (A.transpose() * A).inverse();
#if GNSS_UTILS_TDCP_DEBUG == 1
- std::cout << "TDCP After RAIM iteration" << std::endl;
+ std::cout << "Tdcp After RAIM iteration" << std::endl;
std::cout << "\tExcluded sats : ";
for (auto dsat : discarded_sats)
std::cout << (int)dsat << " ";
@@ -417,7 +417,7 @@ bool TDCP(const Observations& common_obs_r,
}
#if GNSS_UTILS_TDCP_DEBUG == 1
- std::cout << "TDCP After RAIM " << std::endl;
+ std::cout << "Tdcp After RAIM " << std::endl;
std::cout << "\tExcluded sats : ";
for (auto dsat : discarded_sats)
std::cout << (int)dsat << " ";
@@ -432,7 +432,7 @@ bool TDCP(const Observations& common_obs_r,
}
#if GNSS_UTILS_TDCP_DEBUG == 1
- std::cout << "TDCP iteration " << j << std::endl;
+ std::cout << "Tdcp iteration " << j << std::endl;
std::cout << "\tExcluded sats : ";
for (auto dsat : discarded_sats)
std::cout << (int)dsat << " ";
@@ -447,10 +447,10 @@ bool TDCP(const Observations& common_obs_r,
}
// weight covariance with the measurement noise (proportional to time)
- double sq_sigma_TDCP = (tk - tr) * sd_params.sigma_atm * sd_params.sigma_atm +
+ double sq_sigma_Tdcp = (tk - tr) * sd_params.sigma_atm * sd_params.sigma_atm +
2 * (sd_params.use_carrier_phase ? sd_params.sigma_carrier * sd_params.sigma_carrier :
sd_params.sigma_code * sd_params.sigma_code);
- cov_d *= sq_sigma_TDCP;
+ cov_d *= sq_sigma_Tdcp;
// residual = (r - A * d).norm() / A.rows();
// Computing error on measurement space
@@ -469,7 +469,7 @@ void filterCommonSatellites(Observations& common_obs_r,
std::map<int, Eigen::Vector3d>& common_sats_pos_k,
std::set<int>& discarded_sats,
const Eigen::Vector3d& x_r,
- const TDCPParams& sd_params,
+ const TdcpParams& sd_params,
const prcopt_t& opt)
{
assert(&common_obs_r != &common_obs_k);
@@ -576,4 +576,4 @@ void filterCommonSatellites(Observations& common_obs_r,
// std::cout << "final size: " << common_obs_k.size() << std::endl;
}
-} // namespace GNSSUtils
+} // namespace GnssUtils
diff --git a/src/ublox_raw.cpp b/src/ublox_raw.cpp
index 9cc2442d19ddaefe97e7741878a21a565fffbb50..7c12df5f841df9fa312dd20bc02e94af93c80e5e 100644
--- a/src/ublox_raw.cpp
+++ b/src/ublox_raw.cpp
@@ -1,6 +1,6 @@
#include "gnss_utils/ublox_raw.h"
-using namespace GNSSUtils;
+using namespace GnssUtils;
UBloxRaw::UBloxRaw() : raw_data_type_(NO)
{
diff --git a/src/utils/rcv_position.cpp b/src/utils/rcv_position.cpp
index 32ced1767ae1bf991cc7f92b0f1c21966072d602..590c91d3183a94ba38cd413998c2dbd926c81c22 100644
--- a/src/utils/rcv_position.cpp
+++ b/src/utils/rcv_position.cpp
@@ -7,12 +7,12 @@
#include "gnss_utils/utils/rcv_position.h"
-using namespace GNSSUtils;
+using namespace GnssUtils;
-namespace GNSSUtils
+namespace GnssUtils
{
-ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
- GNSSUtils::Navigation& _navigation,
+ComputePosOutput computePos(const GnssUtils::Observations& _observations,
+ GnssUtils::Navigation& _navigation,
const prcopt_t& _prcopt)
{
// Remove duplicated satellites
@@ -24,7 +24,7 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
// Remove duplicated satellites
_navigation.uniqueNavigation();
- GNSSUtils::ComputePosOutput output;
+ GnssUtils::ComputePosOutput output;
sol_t sol;
sol = { { 0 } };
@@ -59,8 +59,8 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
return output;
}
-// ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,
-// GNSSUtils::Navigation & _navigation,
+// ComputePosOutput computePosOwn(const GnssUtils::Observations & _observations,
+// GnssUtils::Navigation & _navigation,
// const prcopt_t & _prcopt)
// {
@@ -70,7 +70,7 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
// // Define error msg
// char msg[128] = "";
-// GNSSUtils::ComputePosOutput output;
+// GnssUtils::ComputePosOutput output;
// sol_t sol;
// sol = {{0}};
@@ -261,4 +261,4 @@ int estposOwn(const obsd_t* obs,
return 0;
}
-} // namespace GNSSUtils
\ No newline at end of file
+} // namespace GnssUtils
\ No newline at end of file
diff --git a/src/utils/sat_position.cpp b/src/utils/sat_position.cpp
index 287fcdfc1a6a27785a4e0a3955704314c4d802db..750441eb04f8e94d998664dda1c121985248a678 100644
--- a/src/utils/sat_position.cpp
+++ b/src/utils/sat_position.cpp
@@ -7,9 +7,9 @@
#include "gnss_utils/utils/sat_position.h"
-using namespace GNSSUtils;
+using namespace GnssUtils;
-namespace GNSSUtils
+namespace GnssUtils
{
double computeSatElevation(const Eigen::Vector3d& receiver_ecef, const Eigen::Vector3d& sat_ecef)
{
@@ -60,4 +60,4 @@ void computeSatellitesPositions(const Observations& obs,
// sats_pos[obs.getObservationByIdx(i).sat].transpose() << std::endl;
}
}
-} // namespace GNSSUtils
\ No newline at end of file
+} // namespace GnssUtils
\ No newline at end of file
diff --git a/src/utils/transformations.cpp b/src/utils/transformations.cpp
index c12f2db6219acdb3ac40013abd636edaead189f8..38097f55678579cb819ccf01ab0fc1a0cbbd6bfe 100644
--- a/src/utils/transformations.cpp
+++ b/src/utils/transformations.cpp
@@ -1,8 +1,8 @@
#include "gnss_utils/utils/transformations.h"
-using namespace GNSSUtils;
+using namespace GnssUtils;
-namespace GNSSUtils
+namespace GnssUtils
{
Eigen::Vector3d ecefToLatLonAlt(const Eigen::Vector3d& _ecef)
@@ -101,7 +101,7 @@ void computeEnuEcefFromEcef(const Eigen::Vector3d& _t_ECEF_ENU,
//
// t_ENU_ECEF = -R_ENU_ECEF*_t_ECEF_ENU;
- Eigen::Vector3d ENU_lat_lon_alt = GNSSUtils::ecefToLatLonAlt(_t_ECEF_ENU);
+ Eigen::Vector3d ENU_lat_lon_alt = GnssUtils::ecefToLatLonAlt(_t_ECEF_ENU);
double sLat = sin(ENU_lat_lon_alt(0));
double cLat = cos(ENU_lat_lon_alt(0));
@@ -149,4 +149,4 @@ void computeEnuEcefFromLatLonAlt(const Eigen::Vector3d& _ENU_latlonalt,
t_ENU_ECEF = -R_ENU_ECEF * t_ECEF_ENU;
}
-} // namespace GNSSUtils
\ No newline at end of file
+} // namespace GnssUtils
\ No newline at end of file
diff --git a/src/utils/utils.cpp b/src/utils/utils.cpp
index 5336b047d0b0901ac502de3f4d443e5868bc5168..48fca36152aec213fdc87756f423d8293374a6e8 100644
--- a/src/utils/utils.cpp
+++ b/src/utils/utils.cpp
@@ -1,6 +1,6 @@
#include "gnss_utils/utils/utils.h"
-namespace GNSSUtils
+namespace GnssUtils
{
void print(std::string& _msg)
{
@@ -117,4 +117,4 @@ bool equalObservations(const obs_t& obs1, const obs_t& obs2)
return true;
}
-} // namespace GNSSUtils
+} // namespace GnssUtils
diff --git a/test/gtest_observations.cpp b/test/gtest_observations.cpp
index 80158905aba3f9ec890a6fb2d4acd8829e806245..2726322b5c7bb4b63e7186a68ded8feb0f541922 100644
--- a/test/gtest_observations.cpp
+++ b/test/gtest_observations.cpp
@@ -1,7 +1,7 @@
#include "gtest/utils_gtest.h"
#include "gnss_utils/observations.h"
-using namespace GNSSUtils;
+using namespace GnssUtils;
std::string rnx_file;
obs_t obs;
@@ -46,7 +46,7 @@ TEST(ObservationsTest, AddClearObservation)
TEST(ObservationsTest, LoadFromRinex)
{
- // GNSSUtils utilities
+ // GnssUtils utilities
Observations observations;
observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
observations.print();
diff --git a/test/gtest_transformations.cpp b/test/gtest_transformations.cpp
index 8984b1009d368b9160ae5c43b88b99d00e1b00ca..22f7831647c1b7ebd043de0e737459556f60a284 100644
--- a/test/gtest_transformations.cpp
+++ b/test/gtest_transformations.cpp
@@ -7,7 +7,7 @@ static double kSemiminorAxis = 6356752.3142;
static double kFirstEccentricitySquared = 6.69437999014 * 0.001;
static double kSecondEccentricitySquared = 6.73949674228 * 0.001;
-using namespace GNSSUtils;
+using namespace GnssUtils;
TEST(TransformationsTest, ecefToLatLonAlt)
{