diff --git a/include/gnss_utils/navigation.h b/include/gnss_utils/navigation.h index a627ff80478c37b4bf8a6eab755906bef2ce961d..fe96ab254a94815a902953b0afa71cec1a29b8b3 100644 --- a/include/gnss_utils/navigation.h +++ b/include/gnss_utils/navigation.h @@ -129,7 +129,7 @@ namespace GNSSUtils private: // rtklib-like attribute to represent the different navigation msgs for a given epoch - nav_t _nav; + nav_t nav_; // Private methods diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h index 16e230cbb0f9e09a5be19cdddf3a975fed8097ba..4293b07ba6d2f1a8c39d364ef2c9253ff41e96c4 100644 --- a/include/gnss_utils/observations.h +++ b/include/gnss_utils/observations.h @@ -39,7 +39,7 @@ namespace GNSSUtils private: // Private objects // rtklib-like attribute to represent the different observation msgs for a given epoch - std::vector<obsd_t> _obsVector; + std::vector<obsd_t> obs_vector_; // Private methods diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp index 8cdfd57c0c7d656b1bb26905a6a0701729924646..0b3ae0ca75a68546e12a949de30afbfb01635eb9 100644 --- a/src/gnss_utils.cpp +++ b/src/gnss_utils.cpp @@ -11,6 +11,7 @@ namespace GNSSUtils // Define navigation nav_t nav = _navigation->getNavigation(); + uniqnav(&nav); // Define processing options prcopt_t prcopt = prcopt_default; @@ -27,12 +28,12 @@ namespace GNSSUtils prcopt.sbascorr = SBSOPT_FCORR; // Define solution - sol_t solb={{0}}; + _sol = {{0}}; // Define error msg char msg[128]=""; - int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg); + int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &_sol, NULL, NULL, msg); return stat; } diff --git a/src/navigation.cpp b/src/navigation.cpp index edb0c55334de7c691ae35f25f72fe98ace63263e..6129fa20f2c5ec73da42c4731fb4b68462fb2138 100644 --- a/src/navigation.cpp +++ b/src/navigation.cpp @@ -7,11 +7,11 @@ using namespace GNSSUtils; Navigation::Navigation() { //_nav = (nav_t *) malloc(sizeof(nav_t)); - allocateEphemeris(); - allocateGLONASSEphemeris(); - allocateSBASEphemeris(); - - allocateAlmanac(); + // allocateEphemeris(); + // allocateGLONASSEphemeris(); + // allocateSBASEphemeris(); + // + // allocateAlmanac(); } Navigation::~Navigation() @@ -53,7 +53,7 @@ void Navigation::clearNavigation() */ } -void Navigation::setNavigation(nav_t nav) +void Navigation::setNavigation(nav_t _nav) { /* allocateEphemeris(); @@ -87,17 +87,17 @@ void Navigation::setNavigation(nav_t nav) */ - _nav = nav; + nav_ = _nav; } const nav_t & Navigation::getNavigation() const { - return _nav; + return nav_; } nav_t & Navigation::getNavigation() { - return _nav; + return nav_; } @@ -109,8 +109,8 @@ void Navigation::allocateEphemeris(int n_sat) eph_t eph0 ={0,-1,-1}; int i; - _nav.eph = (eph_t *) malloc(sizeof(eph_t)*n_sat); - for (i=0;i<n_sat;i++) _nav.eph[i] = eph0; + nav_.eph = (eph_t *) malloc(sizeof(eph_t)*n_sat); + for (i=0;i<n_sat;i++) nav_.eph[i] = eph0; /* if (this->_nav->eph) { @@ -145,7 +145,7 @@ void Navigation::allocateGLONASSEphemeris(int n_sat) { geph_t geph0={0,-1}; int i; - _nav.geph = (geph_t *)malloc(sizeof(geph_t)*n_sat); + nav_.geph = (geph_t *)malloc(sizeof(geph_t)*n_sat); /* for (i=0;i<NSATGLO ;i++) _nav.geph[i] = geph0; @@ -184,8 +184,8 @@ void Navigation::allocateSBASEphemeris(int n_sat) seph_t seph0={0}; int i; - _nav.seph = (seph_t *)malloc(sizeof(seph_t)*n_sat); - for (i=0; i<n_sat; i++) _nav.seph[i] = seph0; + nav_.seph = (seph_t *)malloc(sizeof(seph_t)*n_sat); + for (i=0; i<n_sat; i++) nav_.seph[i] = seph0; /* if (this->_nav->seph) { @@ -221,8 +221,8 @@ void Navigation::allocateAlmanac(int n_sat) alm_t alm0 ={0,-1}; int i; - _nav.alm = (alm_t *)malloc(sizeof(alm_t)*n_sat); - for (i=0; i<n_sat; i++) _nav.alm[i] = alm0; + nav_.alm = (alm_t *)malloc(sizeof(alm_t)*n_sat); + for (i=0; i<n_sat; i++) nav_.alm[i] = alm0; /* if (this->_nav->alm) {