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Commit b91b89b1 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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Merge remote-tracking branch 'origin/cmake-refactor' into 

single_differences

Conflicts:
	src/test/gtest_transformations.cpp
parents 99352332 40c17028
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CMakeLists.txt
+ 73
− 4
View file @ b91b89b1
......@@ -43,15 +43,84 @@ IF(NOT BUILD_TESTS)
OPTION(BUILD_TESTS "Build Unit tests" ON)
ENDIF(NOT BUILD_TESTS)
ADD_SUBDIRECTORY(src)
# rtklib path
SET(RTKLIB_DIR deps/RTKLIB)
SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
# driver source files
SET(SOURCES
src/gnss_utils.cpp
src/observations.cpp
src/navigation.cpp
src/TDCP.cpp
src/utils.cpp)
SET(RTKLIB_SRC
${RTKLIB_SRC_DIR}/pntpos.c
${RTKLIB_SRC_DIR}/rtkcmn.c
${RTKLIB_SRC_DIR}/sbas.c
${RTKLIB_SRC_DIR}/ephemeris.c
${RTKLIB_SRC_DIR}/preceph.c
${RTKLIB_SRC_DIR}/qzslex.c
${RTKLIB_SRC_DIR}/rtcm.c
${RTKLIB_SRC_DIR}/rtcm2.c
${RTKLIB_SRC_DIR}/rtcm3.c
${RTKLIB_SRC_DIR}/rtcm3e.c
${RTKLIB_SRC_DIR}/ionex.c
${RTKLIB_SRC_DIR}/rinex.c)
# application header files
SET(HEADERS
include/gnss_utils/gnss_utils.h
include/gnss_utils/utils.h
include/gnss_utils/observations.h
include/gnss_utils/navigation.h
include/gnss_utils/TDCP.h
${RTKLIB_SRC_DIR}/rtklib.h)
# Eigen #######
FIND_PACKAGE(Eigen3 REQUIRED)
# Boost #######
set(Boost_USE_STATIC_LIBS OFF)
set(Boost_USE_MULTITHREADED OFF)
set(Boost_USE_STATIC_RUNTIME OFF)
FIND_PACKAGE(Boost REQUIRED)
# Adding libraries' directories
link_directories(/usr/lib/x86_64-linux-gnu/)
# Adding include directories
INCLUDE_DIRECTORIES(include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTKLIB_SRC_DIR})
# create the shared library
ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
# Installing
INSTALL(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri-algorithms
ARCHIVE DESTINATION lib/iri-algorithms)
INSTALL(FILES ${HEADERS} DESTINATION include/iri-algorithms/gnss_utils)
INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
# Examples
ADD_SUBDIRECTORY(src/examples)
if(BUILD_TESTS)
# Enables testing for this directory and below.
# Note that ctest expects to find a test file in the build directory root.
# Therefore, this command should be in the source directory root.
#include(CTest) # according to http://public.kitware.com/pipermail/cmake/2012-June/050853.html
enable_testing()
MESSAGE("Building tests.")
enable_testing()
endif()
# Testing
if(BUILD_TESTS)
add_subdirectory(test)
endif()
FIND_PACKAGE(Doxygen)
......@@ -94,4 +163,4 @@ ELSE(UNIX)
COMMENT "uninstall only implemented in unix"
TARGET uninstall
)
ENDIF(UNIX)
\ No newline at end of file
ENDIF(UNIX)
include/gnss_utils/gnss_utils.h
+ 6
− 6
View file @ b91b89b1
......@@ -43,13 +43,13 @@ namespace GNSSUtils
Navigation & _navigation,
const prcopt_t & _prcopt);
ComputePosOutput computePosOwn(const Observations & _observations,
Navigation & _navigation,
const prcopt_t & _prcopt);
// ComputePosOutput computePosOwn(const Observations & _observations,
// Navigation & _navigation,
// const prcopt_t & _prcopt);
int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg);
// int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
// const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
// char *msg);
int estposOwn(const obsd_t *obs, int n, const double *rs, const double *dts,
const double *vare, const int *svh, const nav_t *nav,
......
src/CMakeLists.txt deleted 100644 → 0
+ 0
− 71
View file @ 99352332
# rtklib path
SET(RTKLIB_DIR ../deps/RTKLIB)
SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
# driver source files
SET(SOURCES
gnss_utils.cpp
observations.cpp
navigation.cpp
TDCP.cpp
utils.cpp)
SET(RTKLIB_SRC
${RTKLIB_SRC_DIR}/pntpos.c
${RTKLIB_SRC_DIR}/rtkcmn.c
${RTKLIB_SRC_DIR}/sbas.c
${RTKLIB_SRC_DIR}/ephemeris.c
${RTKLIB_SRC_DIR}/preceph.c
${RTKLIB_SRC_DIR}/qzslex.c
${RTKLIB_SRC_DIR}/rtcm.c
${RTKLIB_SRC_DIR}/rtcm2.c
${RTKLIB_SRC_DIR}/rtcm3.c
${RTKLIB_SRC_DIR}/rtcm3e.c
${RTKLIB_SRC_DIR}/ionex.c
${RTKLIB_SRC_DIR}/rinex.c)
# application header files
SET(HEADERS
../include/gnss_utils/gnss_utils.h
../include/gnss_utils/utils.h
../include/gnss_utils/observations.h
../include/gnss_utils/navigation.h
../include/gnss_utils/TDCP.h
${RTKLIB_SRC_DIR}/rtklib.h)
# Eigen #######
FIND_PACKAGE(Eigen3 REQUIRED)
# Boost #######
set(Boost_USE_STATIC_LIBS OFF)
set(Boost_USE_MULTITHREADED OFF)
set(Boost_USE_STATIC_RUNTIME OFF)
FIND_PACKAGE(Boost REQUIRED)
# Adding libraries' directories
link_directories(/usr/lib/x86_64-linux-gnu/)
# Adding include directories
INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTKLIB_SRC_DIR})
# create the shared library
ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
# Installing
INSTALL(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iri-algorithms
ARCHIVE DESTINATION lib/iri-algorithms)
INSTALL(FILES ${HEADERS} DESTINATION include/iri-algorithms/gnss_utils)
INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
# Testing
if(BUILD_TESTS)
MESSAGE("Building tests.")
add_subdirectory(test)
endif()
# Examples
ADD_SUBDIRECTORY(examples)
\ No newline at end of file
src/gnss_utils.cpp
+ 108
− 108
View file @ b91b89b1
......@@ -52,54 +52,54 @@ namespace GNSSUtils
return output;
}
ComputePosOutput computePosOwn(const GNSSUtils::Observations & _observations,
GNSSUtils::Navigation & _navigation,
const prcopt_t & _prcopt)
{
// Remove duplicated satellites
uniqnav(&(_navigation.getNavigation()));
// Define error msg
char msg[128] = "";
GNSSUtils::ComputePosOutput output;
sol_t sol;
sol = {{0}};
output.pos_stat = pntposOwn(_observations.data(), _observations.size(),
&(_navigation.getNavigation()),
&_prcopt, &sol, NULL, NULL, msg);
if (output.pos_stat == 0)
{
std::cout << "Bad computing: " << msg << "\n";
}
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,
// GNSSUtils::Navigation & _navigation,
// const prcopt_t & _prcopt)
// {
// // Remove duplicated satellites
// uniqnav(&(_navigation.getNavigation()));
// // Define error msg
// char msg[128] = "";
// GNSSUtils::ComputePosOutput output;
// sol_t sol;
// sol = {{0}};
// output.pos_stat = pntposOwn(_observations.data(), _observations.size(),
// &(_navigation.getNavigation()),
// &_prcopt, &sol, NULL, NULL, msg);
// if (output.pos_stat == 0)
// {
// std::cout << "Bad computing: " << msg << "\n";
// }
// 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;
// }
/* single-point positioning COPIED FROM RTKLIB ------------------------------
* compute receiver position, velocity, clock bias by single-point positioning
......@@ -117,66 +117,66 @@ namespace GNSSUtils
* receiver bias are negligible (only involving glonass-gps time offset
* and receiver bias)
*-----------------------------------------------------------------------------*/
int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
char *msg)
{
prcopt_t opt_=*opt;
double *rs,*dts,*var,*azel_,*resp;
int i,stat,vsat[MAXOBS]={0},svh[MAXOBS];
sol->stat=SOLQ_NONE;
if (n<=0) {strcpy(msg,"no observation data"); return 0;}
trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n);
sol->time=obs[0].time; msg[0]='\0';
rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel_=zeros(2,n); resp=mat(1,n);
if (opt_.mode!=PMODE_SINGLE) { /* for precise positioning */
#if 0
opt_.sateph =EPHOPT_BRDC;
#endif
opt_.ionoopt=IONOOPT_BRDC;
opt_.tropopt=TROPOPT_SAAS;
}
/* satellite positons, velocities and clocks */
satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
/* estimate receiver position with pseudorange */
stat=estposOwn(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
/* raim fde */
if (!stat&&n>=6&&opt->posopt[4]) {
stat=raim_fde(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
}
/* estimate receiver velocity with doppler */
//if (stat) estvel(obs,n,rs,dts,nav,&opt_,sol,azel_,vsat);
if (azel) {
for (i=0;i<n*2;i++) azel[i]=azel_[i];
}
if (ssat) {
for (i=0;i<MAXSAT;i++) {
ssat[i].vs=0;
ssat[i].azel[0]=ssat[i].azel[1]=0.0;
ssat[i].resp[0]=ssat[i].resc[0]=0.0;
ssat[i].snr[0]=0;
}
for (i=0;i<n;i++) {
ssat[obs[i].sat-1].azel[0]=azel_[ i*2];
ssat[obs[i].sat-1].azel[1]=azel_[1+i*2];
ssat[obs[i].sat-1].snr[0]=obs[i].SNR[0];
if (!vsat[i]) continue;
ssat[obs[i].sat-1].vs=1;
ssat[obs[i].sat-1].resp[0]=resp[i];
}
}
free(rs); free(dts); free(var); free(azel_); free(resp);
return stat;
}
// int pntposOwn(const obsd_t *obs, int n, const nav_t *nav,
// const prcopt_t *opt, sol_t *sol, double *azel, ssat_t *ssat,
// char *msg)
// {
// prcopt_t opt_=*opt;
// double *rs,*dts,*var,*azel_,*resp;
// int i,stat,vsat[MAXOBS]={0},svh[MAXOBS];
// sol->stat=SOLQ_NONE;
// if (n<=0) {strcpy(msg,"no observation data"); return 0;}
// trace(3,"pntpos : tobs=%s n=%d\n",time_str(obs[0].time,3),n);
// sol->time=obs[0].time; msg[0]='\0';
// rs=mat(6,n); dts=mat(2,n); var=mat(1,n); azel_=zeros(2,n); resp=mat(1,n);
// if (opt_.mode!=PMODE_SINGLE) { /* for precise positioning */
// #if 0
// opt_.sateph =EPHOPT_BRDC;
// #endif
// opt_.ionoopt=IONOOPT_BRDC;
// opt_.tropopt=TROPOPT_SAAS;
// }
// /* satellite positons, velocities and clocks */
// satposs(sol->time,obs,n,nav,opt_.sateph,rs,dts,var,svh);
// /* estimate receiver position with pseudorange */
// stat=estposOwn(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
// /* raim fde */
// if (!stat&&n>=6&&opt->posopt[4]) {
// stat=raim_fde(obs,n,rs,dts,var,svh,nav,&opt_,sol,azel_,vsat,resp,msg);
// }
// /* estimate receiver velocity with doppler */
// //if (stat) estvel(obs,n,rs,dts,nav,&opt_,sol,azel_,vsat);
// if (azel) {
// for (i=0;i<n*2;i++) azel[i]=azel_[i];
// }
// if (ssat) {
// for (i=0;i<MAXSAT;i++) {
// ssat[i].vs=0;
// ssat[i].azel[0]=ssat[i].azel[1]=0.0;
// ssat[i].resp[0]=ssat[i].resc[0]=0.0;
// ssat[i].snr[0]=0;
// }
// for (i=0;i<n;i++) {
// ssat[obs[i].sat-1].azel[0]=azel_[ i*2];
// ssat[obs[i].sat-1].azel[1]=azel_[1+i*2];
// ssat[obs[i].sat-1].snr[0]=obs[i].SNR[0];
// if (!vsat[i]) continue;
// ssat[obs[i].sat-1].vs=1;
// ssat[obs[i].sat-1].resp[0]=resp[i];
// }
// }
// free(rs); free(dts); free(var); free(azel_); free(resp);
// return stat;
// }
int estposOwn(const obsd_t *obs, int n, const double *rs, const double *dts,
const double *vare, const int *svh, const nav_t *nav,
......
src/test/CMakeLists.txt → test/CMakeLists.txt
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File moved
src/test/gtest/CMakeLists.txt → test/gtest/CMakeLists.txt
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− 0
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File moved
src/test/gtest/utils_gtest.h → test/gtest/utils_gtest.h
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File moved
src/test/gtest_example.cpp → test/gtest_example.cpp
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File moved
src/test/gtest_transformations.cpp → test/gtest_transformations.cpp
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File moved
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