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Commit 7a2a6646 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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new output adding msg and bool success

parent ab68e1c5
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1 merge request!15New pntpos output
...@@ -42,7 +42,8 @@ struct ComputePosOutput ...@@ -42,7 +42,8 @@ struct ComputePosOutput
double age; // age of differential (s) double age; // age of differential (s)
double ratio; // AR ratio factor for valiation double ratio; // AR ratio factor for valiation
int pos_stat; // return from pntpos 1:ok,0:error bool success; // return from pntpos true/false
std::string msg; // message returned (in case of error)
Eigen::Vector3d lat_lon; // latitude_longitude_altitude Eigen::Vector3d lat_lon; // latitude_longitude_altitude
std::map<int,Eigen::Vector2d> sat_azel; // azimuth and elevation of each satellite provided std::map<int,Eigen::Vector2d> sat_azel; // azimuth and elevation of each satellite provided
......
...@@ -36,19 +36,17 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations, ...@@ -36,19 +36,17 @@ ComputePosOutput computePos(const GnssUtils::Observations& _observations,
std::vector<double> sat_elevations(2 * _observations.size()); std::vector<double> sat_elevations(2 * _observations.size());
// compute pose // compute pose
output.pos_stat = pntpos(_observations.data(), output.success = pntpos(_observations.data(),
_observations.size(), _observations.size(),
&(_navigation.getNavigation()), &(_navigation.getNavigation()),
&_prcopt, &_prcopt,
&sol, &sol,
sat_elevations.data(), sat_elevations.data(),
sats_status, sats_status,
msg); msg);
// Fill output struct // Fill output struct
if (output.pos_stat == 0) output.msg = msg;
std::cout << "computePos: error in computing positioning, message: " << msg << "\n";
output.time = sol.time.time; output.time = sol.time.time;
output.sec = sol.time.sec; output.sec = sol.time.sec;
output.pos = Eigen::Vector3d(sol.rr); output.pos = Eigen::Vector3d(sol.rr);
......
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