diff --git a/include/gnss_utils/ublox_raw.h b/include/gnss_utils/ublox_raw.h index cc9f65be15cadcb21aebf8f9505dbf4931e54008..d14dc5b13603018c72d3c4a5f901bd9fc9348677 100644 --- a/include/gnss_utils/ublox_raw.h +++ b/include/gnss_utils/ublox_raw.h @@ -16,8 +16,8 @@ class UBloxRaw RawDataType addDataStream(const std::vector<u_int8_t>& data_stream); - Observations& getObservations(); - Navigation& getNavigation(); + const Observations& getObservations(); + const Navigation& getNavigation(); RawDataType getRawDataType() const; @@ -33,12 +33,12 @@ class UBloxRaw }; -inline GNSSUtils::Observations& UBloxRaw::getObservations() +inline const GNSSUtils::Observations& UBloxRaw::getObservations() { return obs_; } -inline GNSSUtils::Navigation& UBloxRaw::getNavigation() +inline const GNSSUtils::Navigation& UBloxRaw::getNavigation() { return nav_; } diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp index 9912535c39f9597ceea9acf0d7dc5c02629e7f73..6747ab860d2cbd80bc83ff28b06378d0c45323c4 100644 --- a/src/gnss_utils.cpp +++ b/src/gnss_utils.cpp @@ -30,11 +30,12 @@ namespace GNSSUtils output.time = sol.time.time; output.sec = sol.time.sec; output.pos = Eigen::Vector3d(sol.rr); - std::cout << "Compute pos: " << output.pos.transpose() << "\n"; output.vel = Eigen::Vector3d(&sol.rr[3]); output.pos_covar << sol.qr[0], sol.qr[3], sol.qr[5], sol.qr[3], sol.qr[1], sol.qr[4], - sol.qr[5], sol.qr[3], sol.qr[2]; + sol.qr[5], sol.qr[4], sol.qr[2]; + //std::cout << "Compute pos: " << output.pos.transpose() << "\n"; + //std::cout << "Covariance:\n" << output.pos_covar << "\n"; // XXX: segmentation fault here. // if (sol.dtr != NULL) diff --git a/src/ublox_raw.cpp b/src/ublox_raw.cpp index 8fdc8cbfa8f09ff7b71f65a5c245c8edeb1cf297..ab7b7399edbf49e24d87177d5cf404fed70a36ec 100644 --- a/src/ublox_raw.cpp +++ b/src/ublox_raw.cpp @@ -31,7 +31,7 @@ RawDataType UBloxRaw::addDataStream(const std::vector<u_int8_t>& data_stream) break; case OBS: // Observations - //std::cout << "Observations received!\n"; + std::cout << "Observations received!\n"; updateObservations(); //std::cout << "Observations updated!\n"; break;