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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 ...@@ -37,9 +37,9 @@ namespace GNSSUtils
Eigen::Vector3d lat_lon; // latitude_longitude_altitude Eigen::Vector3d lat_lon; // latitude_longitude_altitude
}; };
GNSSUtils::ComputePosOutput computePos(const std::shared_ptr<Observations> & _observations, GNSSUtils::ComputePosOutput computePos(const Observations & _observations,
const std::shared_ptr<Navigation> & _navigation, const Navigation & _navigation,
const std::shared_ptr<prcopt_t> & _prcopt); const prcopt_t & _prcopt);
Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef); Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef);
} }
......
...@@ -32,7 +32,7 @@ namespace GNSSUtils ...@@ -32,7 +32,7 @@ namespace GNSSUtils
void pushObservation(obsd_t obs); void pushObservation(obsd_t obs);
std::vector<obsd_t> getObservations(); const std::vector<obsd_t> & getObservations() const;
......
...@@ -2,12 +2,12 @@ ...@@ -2,12 +2,12 @@
namespace GNSSUtils namespace GNSSUtils
{ {
GNSSUtils::ComputePosOutput computePos(const std::shared_ptr<GNSSUtils::Observations> & _observations, GNSSUtils::ComputePosOutput computePos(const GNSSUtils::Observations & _observations,
const std::shared_ptr<GNSSUtils::Navigation> & _navigation, const GNSSUtils::Navigation & _navigation,
const std::shared_ptr<prcopt_t> & _prcopt) const prcopt_t & _prcopt)
{ {
// Remove duplicated satellites // Remove duplicated satellites
uniqnav(&(_navigation->getNavigation())); uniqnav(&(_navigation.getNavigation()));
// Define processing options // Define processing options
// prcopt_t prcopt = prcopt_default; // prcopt_t prcopt = prcopt_default;
...@@ -30,14 +30,14 @@ namespace GNSSUtils ...@@ -30,14 +30,14 @@ namespace GNSSUtils
sol_t sol; sol_t sol;
sol = {{0}}; sol = {{0}};
output.pos_stat = pntpos(&(_observations->getObservations()[0]), _observations->getObservations().size(), output.pos_stat = pntpos(_observations.getObservations().data(), _observations.getObservations().size(),
&(_navigation->getNavigation()), &(_navigation.getNavigation()),
_prcopt.get(), &sol, NULL, NULL, msg); &_prcopt, &sol, NULL, NULL, msg);
output.time = sol.time.time; output.time = sol.time.time;
output.time = sol.time.sec; output.time = sol.time.sec;
output.pos = Eigen::Map<Eigen::Vector3d>(sol.rr); output.pos = Eigen::Vector3d(sol.rr);
output.vel = Eigen::Map<Eigen::Vector3d>(&sol.rr[3]); output.vel = Eigen::Vector3d(&sol.rr[3]);
output.pos_covar << sol.qr[0], sol.qr[3], sol.qr[5], output.pos_covar << sol.qr[0], sol.qr[3], sol.qr[5],
sol.qr[3], sol.qr[1], sol.qr[4], sol.qr[3], sol.qr[1], sol.qr[4],
sol.qr[5], sol.qr[3], sol.qr[2]; sol.qr[5], sol.qr[3], sol.qr[2];
......
...@@ -23,7 +23,7 @@ void Observations::pushObservation(obsd_t obs) ...@@ -23,7 +23,7 @@ void Observations::pushObservation(obsd_t obs)
this->obs_vector_.push_back(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_; return this->obs_vector_;
} }
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