From 99e7f5f7bc05ed053b4ef1e00b135a9fc0cb026d Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Mon, 30 Mar 2020 13:09:39 +0200
Subject: [PATCH] wip
---
src/gnss_utils.cpp | 25 -------------------------
1 file changed, 25 deletions(-)
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index b3a6e02..856755d 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -15,9 +15,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
// Remove duplicated satellites
_navigation.uniqueNavigation();
- // Define error msg
- char msg[128] = "";
-
GNSSUtils::ComputePosOutput output;
sol_t sol;
sol = {{0}};
@@ -53,28 +50,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
output.lat_lon = ecefToLatLonAlt(output.pos);
return output;
- }
-
- 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];
-
- // XXX: segmentation fault here.
- // if (sol.dtr != NULL)
- // {
- // output.rcv_bias << sol.dtr[0], sol.dtr[1], sol.dtr[2], sol.dtr[3], sol.dtr[4], sol.dtr[5];
- // }
- output.type = sol.type;
- output.stat = sol.stat;
- output.ns = sol.ns;
- output.age = sol.age;
- output.ratio = sol.ratio;
- output.lat_lon = ecefToLatLonAlt(output.pos);
-
- return output;
}
// ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,
--
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