From da19bb06334adf90b8592a16a42be6f7ecbc965d Mon Sep 17 00:00:00 2001
From: PepMS <jmarti@iri.upc.edu>
Date: Fri, 4 Oct 2019 12:50:19 +0200
Subject: [PATCH] Changed from smart pointers to references
---
include/gnss_utils/gnss_utils.h | 6 +++---
include/gnss_utils/observations.h | 2 +-
src/gnss_utils.cpp | 18 +++++++++---------
src/observations.cpp | 2 +-
4 files changed, 14 insertions(+), 14 deletions(-)
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index 0169d3e..716a8fb 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -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);
}
diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index 336a408..44a8672 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -32,7 +32,7 @@ namespace GNSSUtils
void pushObservation(obsd_t obs);
- std::vector<obsd_t> getObservations();
+ const std::vector<obsd_t> & getObservations() const;
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index f75f69a..f8e9b42 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -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];
diff --git a/src/observations.cpp b/src/observations.cpp
index db7529d..120ba7c 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -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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