diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index 852b35d646caed9d0d7967d2181158bb68f3ee8f..db2efc751470a5d37c781c243747a4193058968c 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -5,7 +5,6 @@
namespace GnssUtils
{
-
class Observations
{
public:
@@ -15,34 +14,26 @@ public:
~Observations();
void clearObservations();
-
void addObservation(const obsd_t& obs);
- void
- loadFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt = 0.0, const char* opt = "");
-
void removeObservationByIdx(const int& _idx);
void removeObservationBySat(const int& _sat);
-
std::vector<obsd_t>& getObservations();
const std::vector<obsd_t>& getObservations() const;
-
obsd_t& getObservationBySat(const unsigned char& sat_number);
const obsd_t& getObservationBySat(const unsigned char& sat_number) const;
-
obsd_t& getObservationByIdx(const int& idx);
const obsd_t& getObservationByIdx(const int& idx) const;
obsd_t* data();
const obsd_t* data() const;
-
size_t size() const;
bool hasSatellite(const unsigned char& i) const;
static void print(obsd_t& _obs);
- void printBySat(const int& _sat);
- void printByIdx(const int& _idx);
- void print();
+ void printBySat(const int& _sat);
+ void printByIdx(const int& _idx);
+ void print();
// Filter observations
std::set<int> filterByEphemeris(const SatellitesPositions& sats_pos);
@@ -50,38 +41,35 @@ public:
std::set<int> filterByCode();
std::set<int> filterByCarrierPhase();
std::set<int> filterByConstellations(const int& navsys);
- std::set<int> filterByElevationSnr(const Eigen::Vector3d& x_r,
+ std::set<int> filterByElevationSnr(const Eigen::Vector3d& x_r,
const SatellitesPositions& sats_pos,
- const snrmask_t& snrmask,
- const double& elmin);
- std::set<int> filter(const SatellitesPositions& sats_pos,
- const std::set<int>& discarded_sats,
- const Eigen::Vector3d& x_r,
- const bool& check_code,
- const bool& check_carrier_phase,
- const prcopt_t& opt);
- std::set<int> filter(const SatellitesPositions& sats_pos,
- const std::set<int>& discarded_sats,
- const Eigen::Vector3d& x_r,
- const bool& check_code,
- const bool& check_carrier_phase,
- const int& navsys,
- const snrmask_t& snrmask,
- const double& elmin);
-
- static std::set<int> findCommonObservations(const Observations& obs_1,
- const Observations& obs_2);
+ const snrmask_t& snrmask,
+ const double& elmin);
+ std::set<int> filter(const SatellitesPositions& sats_pos,
+ const std::set<int>& discarded_sats,
+ const Eigen::Vector3d& x_r,
+ const bool& check_code,
+ const bool& check_carrier_phase,
+ const prcopt_t& opt);
+ std::set<int> filter(const SatellitesPositions& sats_pos,
+ const std::set<int>& discarded_sats,
+ const Eigen::Vector3d& x_r,
+ const bool& check_code,
+ const bool& check_carrier_phase,
+ const int& navsys,
+ const snrmask_t& snrmask,
+ const double& elmin);
+
+ static std::set<int> findCommonObservations(const Observations& obs_1, const Observations& obs_2);
bool operator==(const Observations& other_obs) const;
- bool operator !=(const Observations &other_obs) const;
+ bool operator!=(const Observations& other_obs) const;
private:
// Private objects
std::map<unsigned char, int> sat_2_idx_; //< key: corresponding sat number, value: idx in obs_ vector
std::vector<unsigned char> idx_2_sat_; //< key: idx in obs_ vector, value: corresponding sat number
std::vector<obsd_t> obs_; //< vector of RTKLIB observations for a given epoch
-
- // Private methods
};
} // namespace GnssUtils
@@ -92,7 +80,6 @@ private:
namespace GnssUtils
{
-
inline const std::vector<obsd_t>& Observations::getObservations() const
{
return this->obs_;
@@ -147,9 +134,9 @@ inline bool Observations::hasSatellite(const unsigned char& i) const
return sat_2_idx_.count(i) != 0;
}
-inline bool Observations::operator !=(const Observations &other_obs) const
+inline bool Observations::operator!=(const Observations& other_obs) const
{
- return !(*this == other_obs);
+ return !(*this == other_obs);
}
} // namespace GnssUtils
diff --git a/include/gnss_utils/utils/utils.h b/include/gnss_utils/utils/utils.h
index a107051641c6063ebfd6383e0682a741d8d6b605..72a1d77739e4a5574f07a779592122b9af9a11d8 100644
--- a/include/gnss_utils/utils/utils.h
+++ b/include/gnss_utils/utils/utils.h
@@ -8,6 +8,7 @@
#include "gnss_utils/internal/config.h"
#include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/observations.h"
#define ARRAY_SIZE(arr) sizeof(arr) / sizeof(arr[0])
#define ARRAY2D_NROWS(arr) sizeof(arr) / sizeof(arr[0])
@@ -165,6 +166,9 @@ bool equalArray3d(const T* array_1,
return true;
}
+std::vector<Observations>
+loadObservationsFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt, const char* opt);
+
} // namespace GnssUtils
bool operator==(const gtime_t& time1, const gtime_t& time2);
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index fba3b7f10045cd17d2238b30834b8f0c8f53e6f6..ce7a617b78a147ef258b70064d82823cac6c2e93 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -1,6 +1,7 @@
#include "gnss_utils/observations.h"
#include "gnss_utils/navigation.h"
#include "gnss_utils/utils/transformations.h"
+#include "gnss_utils/utils/utils.h"
#include <typeinfo>
@@ -33,14 +34,16 @@ int main(int argc, char* argv[])
const char* opt = ""; // only GPS | GPS+GAL: "-SYS=G,L" | ALL: ""
// load observations from RINEX file
- observations.loadFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
+ std::vector<Observations> obs_rinex =
+ loadObservationsFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
observations.print();
// RTKLIB trace
- // char str_file[80];
- // snprintf(str_file, sizeof str_file, "../src/examples/trace");
- // tracelevel(5);
- // traceopen(str_file);
+ char str_file[80];
+ snprintf(str_file, sizeof str_file, "../src/examples/trace");
+ tracelevel(5);
+ traceopen(str_file);
// load navigation from RINEX file
navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
@@ -89,15 +92,17 @@ int main(int argc, char* argv[])
char msg[128] = "";
- stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL, msg);
+ stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL,
+ msg);
std::cout << "msg: " << msg << std::endl;
std::cout << "sol.stat: " << int(solb.stat) << std::endl;
std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
- std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1], solb.rr[2])).transpose()
+ std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1],
+ solb.rr[2])).transpose()
<< std::endl;
std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
- traceclose();
+ // traceclose();
}
diff --git a/src/observations.cpp b/src/observations.cpp
index 0ca80fd9e9612ec569a9e295375a40cbb3e76748..a90ea7084d576746ccf7fb1ba746447fcc6af09a 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -74,41 +74,6 @@ void Observations::addObservation(const obsd_t& obs)
assert(sat_2_idx_.size() == obs_.size());
}
-void Observations::loadFromRinex(const std::string& rnx_file,
- gtime_t t_start,
- gtime_t t_end,
- double dt,
- const char* opt)
-{
- obs_t obs;
- obs.data = (obsd_t*)malloc(sizeof(obsd_t) * MAXSAT);
- obs.n = 0;
- obs.nmax = MAXSAT;
-
- // const char* opt = "";
- auto stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, &obs, NULL, NULL);
- if (stat == 1)
- sortobs(&obs);
- else
- {
- std::cout << "Observation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error") << stat << std::endl;
- return;
- }
-
- for (int i = 0; i < obs.n; i++)
- {
- // std::cout << "time: " << time_str(obs.data[i].time, 3) << " | sat: " << int(obs.data[i].sat) << " | rcv: " <<
- // int(obs.data[i].rcv) <<
- // " | SNR: " << int(obs.data[i].SNR[0]) << " | LLI: " << int(obs.data[i].LLI[0]) << " | code: " <<
- // int(obs.data[i].code[0]) <<
- // " | L: " << obs.data[i].L[0] << " | P: " << obs.data[i].P[0] << " | D: " << obs.data[i].D[0] <<
- // std::endl;
- addObservation(obs.data[i]);
- }
-
- free(obs.data);
-}
-
void Observations::removeObservationByIdx(const int& _idx)
{
// std::cout << "removing observation of idx " << _idx << std::endl;
diff --git a/src/utils/utils.cpp b/src/utils/utils.cpp
index ce565b86ceed99855aefb54358ec006b38a41c90..2cb59ab57b524b097f0e756542bb64ea235aff1b 100644
--- a/src/utils/utils.cpp
+++ b/src/utils/utils.cpp
@@ -9,6 +9,55 @@ void print(std::string& _msg)
std::cout << msg << "\n";
}
+std::vector<Observations>
+loadObservationsFromRinex(const std::string& rnx_file, gtime_t t_start, gtime_t t_end, double dt, const char* opt)
+{
+ obs_t obs;
+ obs.data = (obsd_t*)malloc(sizeof(obsd_t) * MAXSAT);
+ obs.n = 0;
+ obs.nmax = MAXSAT;
+
+ // const char* opt = "";
+ auto stat = readrnxt(rnx_file.c_str(), 1, t_start, t_end, dt, opt, &obs, NULL, NULL);
+ int n_epochs;
+ if (stat == 1)
+ n_epochs = sortobs(&obs);
+ else
+ {
+ std::cout << "Observation: couldn't load provided observation file, reason: " << (stat == 0 ? "no data" : "error")
+ << stat << std::endl;
+ return;
+ }
+
+ std::vector<Observations> obs_vector;
+ obs_vector.reserve(n_epochs);
+
+ Observations obs_epoch;
+ for (int i = 0; i < obs.n; i++)
+ {
+ obs_epoch.addObservation(obs.data[i]);
+
+ bool last_obs_epoch = false;
+ if (i < obs.n - 1)
+ {
+ double tt = timediff(obs.data[i].time, obs.data[i + 1].time);
+ if (fabs(tt) > DTTOL)
+ {
+ obs_vector.push_back(obs_epoch);
+ obs_epoch.clearObservations();
+ }
+ }
+ else
+ {
+ obs_vector.push_back(obs_epoch);
+ }
+ }
+
+ free(obs.data);
+
+ return obs_vector;
+}
+
} // namespace GnssUtils
bool operator==(const gtime_t& time1, const gtime_t& time2)
diff --git a/test/gtest_observations.cpp b/test/gtest_observations.cpp
index cbb25d72d1863ea094dd2bd83cc28c3a8f60a5d6..4b0699d64a63e1993756412e1970209b1a3ebe1d 100644
--- a/test/gtest_observations.cpp
+++ b/test/gtest_observations.cpp
@@ -55,7 +55,9 @@ TEST(ObservationsTest, LoadFromRinex)
// GnssUtils utilities
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
ASSERT_EQ(obs.n, 18);
@@ -75,7 +77,9 @@ TEST(ObservationsTest, GetObservationBySat)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -90,7 +94,9 @@ TEST(ObservationsTest, GetObservationByIdx)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -104,7 +110,9 @@ TEST(ObservationsTest, data)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -118,7 +126,9 @@ TEST(ObservationsTest, HasSatellite)
loadRinex(obs);
Observations observations;
- observations.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations = obs_rinex[0];
for (int ii = 0; ii < obs.n; ++ii)
{
@@ -129,7 +139,10 @@ TEST(ObservationsTest, HasSatellite)
TEST(ObservationsTest, FindCommonObservations)
{
Observations observations1;
- observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations1 = obs_rinex[0];
+
Observations observations2(observations1);
ASSERT_TRUE(observations1 == observations2);
@@ -140,15 +153,17 @@ TEST(ObservationsTest, FindCommonObservations)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
- ASSERT_TRUE(observations1.hasSatellite(sat));
- ASSERT_TRUE(observations2.hasSatellite(sat));
+ ASSERT_TRUE(observations1.hasSatellite(sat));
+ ASSERT_TRUE(observations2.hasSatellite(sat));
}
}
TEST(ObservationsTest, FindCommonObservationsRemoved)
{
Observations observations1;
- observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations1 = obs_rinex[0];
Observations observations2(observations1);
// Remove first observation of observations2
@@ -161,15 +176,18 @@ TEST(ObservationsTest, FindCommonObservationsRemoved)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
- ASSERT_TRUE(observations1.hasSatellite(sat));
- ASSERT_TRUE(observations2.hasSatellite(sat));
+ ASSERT_TRUE(observations1.hasSatellite(sat));
+ ASSERT_TRUE(observations2.hasSatellite(sat));
}
}
TEST(ObservationsTest, FindCommonObservationsChangeTime)
{
Observations observations1;
- observations1.loadFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+
+ std::vector<Observations> obs_rinex = loadObservationsFromRinex(rnx_file.c_str(), t_start, t_end, dt, opt);
+ observations1 = obs_rinex[0];
+
Observations observations2(observations1);
// Change time
@@ -184,8 +202,8 @@ TEST(ObservationsTest, FindCommonObservationsChangeTime)
ASSERT_TRUE(common_sats.size() == observations2.size());
for (auto sat : common_sats)
{
- ASSERT_TRUE(observations1.hasSatellite(sat));
- ASSERT_TRUE(observations2.hasSatellite(sat));
+ ASSERT_TRUE(observations1.hasSatellite(sat));
+ ASSERT_TRUE(observations2.hasSatellite(sat));
}
}