From b187bb7bd336618a660f837e4acc140a53a1eac7 Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Thu, 4 Jul 2019 11:53:23 +0200
Subject: [PATCH] Added function ecefToPos()
---
include/gnss_utils/gnss_utils.h | 7 +++++++
src/gnss_utils.cpp | 8 ++++++++
2 files changed, 15 insertions(+)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index 9d68ae9..a550db3 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -4,6 +4,11 @@
#include <vector>
#include <iostream>
#include <memory>
+
+#include <eigen3/Eigen/Dense>
+#include <eigen3/Eigen/Geometry>
+#include <eigen3/Eigen/Sparse>
+
#include "observations.h"
#include "navigation.h"
@@ -17,5 +22,7 @@ namespace GNSSUtils
int getPos(const std::shared_ptr<Observations> & _observations,
const std::shared_ptr<Navigation> & _navigation,
sol_t & _sol);
+
+ Eigen::Vector3d ecefToPos(const Eigen::Vector3d & _ecef);
}
#endif
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index 0eb5ab1..b5c9c0a 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -36,4 +36,12 @@ namespace GNSSUtils
return stat;
}
+
+ Eigen::Vector3d ecefToPos(const Eigen::Vector3d & _ecef)
+ {
+ double pos[3];
+ ecef2pos(&_ecef(0), pos);
+
+ return Eigen::Map<Eigen::Vector3d>(pos);
+ }
}
--
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