From 8a059fc3a64eedb186202f1096939087922cecb4 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 2 Apr 2020 10:08:15 +0200
Subject: [PATCH] small things

---
 include/gnss_utils/ublox_raw.h | 8 ++++----
 src/gnss_utils.cpp             | 5 +++--
 src/ublox_raw.cpp              | 2 +-
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/include/gnss_utils/ublox_raw.h b/include/gnss_utils/ublox_raw.h
index cc9f65b..d14dc5b 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 9912535..6747ab8 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 8fdc8cb..ab7b739 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;
-- 
GitLab