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Commit da19bb06 authored by Pep Martí Saumell's avatar Pep Martí Saumell
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Changed from smart pointers to references

parent c99fea42
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2 merge requests!20new tag,!19new tag
......@@ -37,9 +37,9 @@ namespace GNSSUtils
Eigen::Vector3d lat_lon; // latitude_longitude_altitude
};
GNSSUtils::ComputePosOutput computePos(const std::shared_ptr<Observations> & _observations,
const std::shared_ptr<Navigation> & _navigation,
const std::shared_ptr<prcopt_t> & _prcopt);
GNSSUtils::ComputePosOutput computePos(const Observations & _observations,
const Navigation & _navigation,
const prcopt_t & _prcopt);
Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef);
}
......
......@@ -32,7 +32,7 @@ namespace GNSSUtils
void pushObservation(obsd_t obs);
std::vector<obsd_t> getObservations();
const std::vector<obsd_t> & getObservations() const;
......
......@@ -2,12 +2,12 @@
namespace GNSSUtils
{
GNSSUtils::ComputePosOutput computePos(const std::shared_ptr<GNSSUtils::Observations> & _observations,
const std::shared_ptr<GNSSUtils::Navigation> & _navigation,
const std::shared_ptr<prcopt_t> & _prcopt)
GNSSUtils::ComputePosOutput computePos(const GNSSUtils::Observations & _observations,
const GNSSUtils::Navigation & _navigation,
const prcopt_t & _prcopt)
{
// Remove duplicated satellites
uniqnav(&(_navigation->getNavigation()));
uniqnav(&(_navigation.getNavigation()));
// Define processing options
// prcopt_t prcopt = prcopt_default;
......@@ -30,14 +30,14 @@ namespace GNSSUtils
sol_t sol;
sol = {{0}};
output.pos_stat = pntpos(&(_observations->getObservations()[0]), _observations->getObservations().size(),
&(_navigation->getNavigation()),
_prcopt.get(), &sol, NULL, NULL, msg);
output.pos_stat = pntpos(_observations.getObservations().data(), _observations.getObservations().size(),
&(_navigation.getNavigation()),
&_prcopt, &sol, NULL, NULL, msg);
output.time = sol.time.time;
output.time = sol.time.sec;
output.pos = Eigen::Map<Eigen::Vector3d>(sol.rr);
output.vel = Eigen::Map<Eigen::Vector3d>(&sol.rr[3]);
output.pos = Eigen::Vector3d(sol.rr);
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];
......
......@@ -23,7 +23,7 @@ void Observations::pushObservation(obsd_t obs)
this->obs_vector_.push_back(obs);
}
std::vector<obsd_t> Observations::getObservations()
const std::vector<obsd_t> & Observations::getObservations() const
{
return this->obs_vector_;
}
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