From 6e8e228b96a671a38a42dc539d6aab6d968abe95 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Thu, 3 Oct 2019 13:19:00 +0200
Subject: [PATCH] Add option to computePos
---
include/gnss_utils/gnss_utils.h | 7 ++++---
src/gnss_utils.cpp | 33 +++++++++++++++++----------------
2 files changed, 21 insertions(+), 19 deletions(-)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index 5de1c22..c09b7d2 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -19,7 +19,7 @@ extern "C"
namespace GNSSUtils
{
- struct getPosOutput{
+ struct fixPosOutput{
time_t time;
double sec;
Eigen::Vector3d pos; // position (m)
@@ -37,8 +37,9 @@ namespace GNSSUtils
Eigen::Vector3d lat_lon; // latitude_longitude_altitude
};
- GNSSUtils::getPosOutput getPos(const std::shared_ptr<Observations> & _observations,
- const std::shared_ptr<Navigation> & _navigation);
+ GNSSUtils::fixPosOutput computePos(const std::shared_ptr<Observations> & _observations,
+ const std::shared_ptr<Navigation> & _navigation,
+ const std::shared_ptr<prcopt_t> & _prcopt);
Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef);
}
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index ed36ae3..4025394 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -2,36 +2,37 @@
namespace GNSSUtils
{
- GNSSUtils::getPosOutput getPos(const std::shared_ptr<GNSSUtils::Observations> & _observations,
- const std::shared_ptr<GNSSUtils::Navigation> & _navigation)
+ GNSSUtils::fixPosOutput computePos(const std::shared_ptr<GNSSUtils::Observations> & _observations,
+ const std::shared_ptr<GNSSUtils::Navigation> & _navigation,
+ const std::shared_ptr<prcopt_t> & _prcopt)
{
// Remove duplicated satellites
uniqnav(&(_navigation->getNavigation()));
// Define processing options
- prcopt_t prcopt = prcopt_default;
- prcopt.mode = PMODE_SINGLE;
- prcopt.soltype = 0;
- prcopt.nf = 1;
- prcopt.navsys = SYS_GPS;
- //prcopt.elmin = 1.05; // 60 degrees = 1.05 rad
- prcopt.sateph = EPHOPT_BRDC;
- prcopt.ionoopt = IONOOPT_OFF;
- prcopt.tropopt = TROPOPT_OFF;
- prcopt.dynamics = 0;
- prcopt.tidecorr = 0;
- prcopt.sbascorr = SBSOPT_FCORR;
+ // prcopt_t prcopt = prcopt_default;
+ // prcopt.mode = PMODE_SINGLE;
+ // prcopt.soltype = 0;
+ // prcopt.nf = 1;
+ // prcopt.navsys = SYS_GPS;
+ // //prcopt.elmin = 1.05; // 60 degrees = 1.05 rad
+ // prcopt.sateph = EPHOPT_BRDC;
+ // prcopt.ionoopt = IONOOPT_OFF;
+ // prcopt.tropopt = TROPOPT_OFF;
+ // prcopt.dynamics = 0;
+ // prcopt.tidecorr = 0;
+ // prcopt.sbascorr = SBSOPT_FCORR;
// Define error msg
char msg[128] = "";
- GNSSUtils::getPosOutput output;
+ GNSSUtils::fixPosOutput output;
sol_t sol;
sol = {{0}};
output.pos_stat = pntpos(&(_observations->getObservations()[0]), _observations->getObservations().size(),
&(_navigation->getNavigation()),
- &prcopt, &sol, NULL, NULL, msg);
+ _prcopt.get(), &sol, NULL, NULL, msg);
output.time = sol.time.time;
output.time = sol.time.sec;
--
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