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Commit 72c0811b authored by Pep Martí Saumell's avatar Pep Martí Saumell
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[bug] Example working

parent b71ab39d
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3 merge requests!20new tag,!19new tag,!12Resolve "load from rinex outside classes"
...@@ -35,83 +35,74 @@ int main(int argc, char* argv[]) ...@@ -35,83 +35,74 @@ int main(int argc, char* argv[])
// load observations from RINEX file // load observations from RINEX file
std::vector<Observations> obs_rinex = std::vector<Observations> obs_rinex =
loadObservationsFromRinex("../src/examples/rover_sample.obs", t_start, t_end, dt, opt); loadObservationsFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
observations = obs_rinex[0];
observations.print();
std::cout << "Number of epochs: " << obs_rinex.size() << std::endl; // RTKLIB trace
char str_file[80];
snprintf(str_file, sizeof str_file, "../src/examples/trace");
tracelevel(5);
traceopen(str_file);
observations = obs_rinex.back(); // load navigation from RINEX file
for (auto obs = observations.getObservations().begin(); obs != observations.getObservations().end(); ++obs) navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
{ navigation.print();
printf("Satellite number: %u \n",obs->sat);
}
// observations = obs_rinex[0]; // Trace close
// observations.print(); // traceclose();
// RTKLIB trace /* Set processing options */
// char str_file[80];
// snprintf(str_file, sizeof str_file, "../src/examples/trace");
// tracelevel(5);
// traceopen(str_file);
// load navigation from RINEX file /* header */
// navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt); std::cout << "------------------" << std::endl;
// navigation.print(); std::cout << "Processing options" << std::endl;
std::cout << "------------------" << std::endl;
// // Trace close
// // traceclose(); prcopt_t prcopt = prcopt_default;
prcopt.mode = PMODE_SINGLE;
// /* Set processing options */ prcopt.soltype = 0;
prcopt.nf = 1;
// /* header */ prcopt.navsys = SYS_GPS;
// std::cout << "------------------" << std::endl; prcopt.elmin = 0.525; // 60 degrees = 1.05 rad
// std::cout << "Processing options" << std::endl; prcopt.sateph = EPHOPT_BRDC;
// std::cout << "------------------" << std::endl; prcopt.ionoopt = IONOOPT_OFF;
prcopt.tropopt = TROPOPT_OFF;
// prcopt_t prcopt = prcopt_default; prcopt.dynamics = 0;
// prcopt.mode = PMODE_SINGLE; prcopt.tidecorr = 0;
// prcopt.soltype = 0; prcopt.sbascorr = SBSOPT_FCORR;
// prcopt.nf = 1; prcopt.ru[0] = 0; // 4789374.0336;
// prcopt.navsys = SYS_GPS; prcopt.ru[1] = 0; // 177048.3292;
// prcopt.elmin = 0.525; // 60 degrees = 1.05 rad prcopt.ru[2] = 0; // 4194542.6444;
// prcopt.sateph = EPHOPT_BRDC;
// prcopt.ionoopt = IONOOPT_OFF; std::cout << "Processing options defined" << std::endl;
// prcopt.tropopt = TROPOPT_OFF;
// prcopt.dynamics = 0; Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641);
// prcopt.tidecorr = 0;
// prcopt.sbascorr = SBSOPT_FCORR; // Compute spp
// prcopt.ru[0] = 0; // 4789374.0336;
// prcopt.ru[1] = 0; // 177048.3292; /* header */
// prcopt.ru[2] = 0; // 4194542.6444; std::cout << "-----------" << std::endl;
std::cout << "pntpos call" << std::endl;
// std::cout << "Processing options defined" << std::endl; std::cout << "-----------" << std::endl;
// Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641); int stat;
// // Compute spp sol_t solb = { { 0 } };
// /* header */ char msg[128] = "";
// std::cout << "-----------" << std::endl;
// std::cout << "pntpos call" << std::endl; stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL,
// std::cout << "-----------" << std::endl; msg);
// int stat; std::cout << "msg: " << msg << std::endl;
std::cout << "sol.stat: " << int(solb.stat) << std::endl;
// sol_t solb = { { 0 } }; std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
// char msg[128] = ""; std::cout << "Position LLA: " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1],
solb.rr[2])).transpose()
// stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL, << std::endl;
// msg); std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
// 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::endl;
// std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
// traceclose(); // traceclose();
} }
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