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Commit 99e7f5f7 authored by Pep Martí Saumell's avatar Pep Martí Saumell
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wip

parent 22ca7d32
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...@@ -15,9 +15,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations, ...@@ -15,9 +15,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
// Remove duplicated satellites // Remove duplicated satellites
_navigation.uniqueNavigation(); _navigation.uniqueNavigation();
// Define error msg
char msg[128] = "";
GNSSUtils::ComputePosOutput output; GNSSUtils::ComputePosOutput output;
sol_t sol; sol_t sol;
sol = {{0}}; sol = {{0}};
...@@ -53,28 +50,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations, ...@@ -53,28 +50,6 @@ ComputePosOutput computePos(const GNSSUtils::Observations& _observations,
output.lat_lon = ecefToLatLonAlt(output.pos); output.lat_lon = ecefToLatLonAlt(output.pos);
return output; 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, // ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,
......
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