diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..8ae397c5fba281f4455a6042d5d6727a96e94f25
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+#Ignore build, bin and lib folders
+bin/
+build/
+lib/
diff --git a/.gitmodules b/.gitmodules
new file mode 100644
index 0000000000000000000000000000000000000000..0433a4f7287f938695a2c0a6912b1270ff8929e9
--- /dev/null
+++ b/.gitmodules
@@ -0,0 +1,3 @@
+[submodule "deps/RTKLIB"]
+ path = deps/RTKLIB
+ url = https://github.com/tomojitakasu/RTKLIB.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6ddfb998b6c1640d5fb46d6a57d8a469f5b74b06..7fdfa2d7db4b06b68091b3877a52ca3fdda23502 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,13 +28,17 @@ CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++11 support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+ #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c99")
elseif(COMPILER_SUPPORTS_CXX0X)
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has C++0x support.")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+ #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c99")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fpermissive")
+
ADD_SUBDIRECTORY(src)
FIND_PACKAGE(Doxygen)
diff --git a/Findgnss_utils.cmake b/Findgnss_utils.cmake
index 85306e55c56ff0aea7537dcf31d091f2a426d9dc..4c0429fc6831b279bbeb005cdfcb976bf2dc2881 100644
--- a/Findgnss_utils.cmake
+++ b/Findgnss_utils.cmake
@@ -1,9 +1,9 @@
#edit the following line to add the librarie's header files
-FIND_PATH(gnss_utils_INCLUDE_DIR gnss_utils.h obervation.h /usr/include/iridrivers /usr/local/lib)
+FIND_PATH(gnss_utils_INCLUDE_DIR observations.h navigation.h /usr/include/iridrivers /usr/local/include)
FIND_LIBRARY(gnss_utils_LIBRARY
NAMES gnss_utils
- PATHS /usr/lib /usr/local/lib /usr/local/lib)
+ PATHS /usr/lib /usr/local/lib)
IF (gnss_utils_INCLUDE_DIR AND gnss_utils_LIBRARY)
SET(gnss_utils_FOUND TRUE)
@@ -18,4 +18,3 @@ ELSE (gnss_utils_FOUND)
MESSAGE(FATAL_ERROR "Could not find gnss_utils")
ENDIF (gnss_utils_FIND_REQUIRED)
ENDIF (gnss_utils_FOUND)
-
diff --git a/cmake_modules/FindRTKLIB.cmake b/cmake_modules/FindRTKLIB.cmake
deleted file mode 100644
index 41289eba5411914f02094b1541e01d573682cd93..0000000000000000000000000000000000000000
--- a/cmake_modules/FindRTKLIB.cmake
+++ /dev/null
@@ -1,18 +0,0 @@
-#edit the following line to add the librarie's header files
-
-FIND_PATH(RTKLIB_INCLUDE_DIR rtklib.h /usr/include /usr/local/include ~/RTKLIB/src)
-GET_FILENAME_COMPONENT(RTK_LIB_PATH ${RTKLIB_INCLUDE_DIR} DIRECTORY)
-
-IF (RTKLIB_INCLUDE_DIR)
- SET(RTKLIB_FOUND TRUE)
-ENDIF (RTKLIB_INCLUDE_DIR)
-
-IF (RTKLIB_FOUND)
- IF (NOT RTKLIB_FOUND_QUIETLY)
- MESSAGE(STATUS "Found RTKLIB: ${RTKLIB_INCLUDE_DIR}")
- ENDIF (NOT RTKLIB_FOUND_QUIETLY)
-ELSE (RTKLIB_FOUND)
- IF (RTKLIB_FIND_REQUIRED)
- MESSAGE(FATAL_ERROR "Could not find RTKLIB")
- ENDIF (RTKLIB_FIND_REQUIRED)
-ENDIF (RTKLIB_FOUND)
diff --git a/deps/RTKLIB b/deps/RTKLIB
new file mode 160000
index 0000000000000000000000000000000000000000..71db0ffa0d9735697c6adfd06fdf766d0e5ce807
--- /dev/null
+++ b/deps/RTKLIB
@@ -0,0 +1 @@
+Subproject commit 71db0ffa0d9735697c6adfd06fdf766d0e5ce807
diff --git a/include/gnss_utils.h b/include/gnss_utils.h
deleted file mode 100644
index 0c5b6ed4320ee047358ce6f0c56592714b069f7d..0000000000000000000000000000000000000000
--- a/include/gnss_utils.h
+++ /dev/null
@@ -1,87 +0,0 @@
-#ifndef GNSS_UTILS_H
-#define GNSS_UTILS_H
-
-#include <vector>
-#include <iostream>
-#include <memory>
-
-#include "observation.h"
-
-extern "C"
-{
- #include "/home/jlaplaza/RTKLIB/src/rtklib.h"
-}
-
-namespace GNSSUtils
-{
- class Receiver
- {
- public:
- // Constructor & Destructor
- Receiver();
- ~Receiver();
-
- // Public objects
-
- // Public methods
-
-
- /* - Observations - */
-
- void clearObservations();
-
- void pushObservation(obsd_t obs);
-
- std::vector<obsd_t> getObservations();
-
-
- /* - Navigation - */
-
- void clearNavigation();
-
- void pushNavigation(nav_t nav);
-
- std::vector<nav_t> getNavigation();
-
-
- /* - Processing Options - */
-
- void clearOptions();
-
- void pushOption(prcopt_t opt);
-
- std::vector<prcopt_t> getOptions();
-
-
- /* - Solution - */
-
-
- /* - Satellite status - */
-
- /* - Compute Fix - */
-
- int computeSPP(double *azel, char *msg);
-
- private:
- // rtklib-like attribute to represent the different observation msgs for a given epoch
- std::vector<obsd_t> _obsVector;
-
- // rtklib-like attribute to represent the different navigation msgs for a given epoch
- std::vector<nav_t> _navVector;
-
- // rtklib-like attribute to represent the different options for a given epoch
- std::vector<prcopt_t> _opt;
-
- // rtklib-like attribute to represent the solution for a given epoch
- std::Vector<sol_t> _sol;
-
- // rtklib-like attribute to represent the satellite status for a given epoch
- std::vector<ssat_t> _ssat;
-
-
-
-
-
- };
-}
-#endif
diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
new file mode 100644
index 0000000000000000000000000000000000000000..f77bf48f3c1fa5ce540ea6d83904c8d684aa8dfd
--- /dev/null
+++ b/include/gnss_utils/gnss_utils.h
@@ -0,0 +1,45 @@
+#ifndef GNSS_UTILS_H
+#define GNSS_UTILS_H
+
+#include <vector>
+#include <iostream>
+#include <memory>
+
+#include <eigen3/Eigen/Dense>
+#include <eigen3/Eigen/Geometry>
+#include <eigen3/Eigen/Sparse>
+
+#include "observations.h"
+#include "navigation.h"
+
+extern "C"
+{
+ #include "../deps/RTKLIB/src/rtklib.h"
+}
+
+namespace GNSSUtils
+{
+ struct getPosOutput{
+ time_t time;
+ double sec;
+ Eigen::Vector3d pos; // position (m)
+ Eigen::Vector3d vel; // velocity (m/s)
+ Eigen::Matrix3d pos_covar; // position covariance (m^2)
+ // {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx}
+ Eigen::VectorXd rcv_bias; // receiver clock bias to time systems (s)
+ int type; // type (0:xyz-ecef,1:enu-baseline)
+ int stat; // solution status (SOLQ_???)
+ int ns; // number of valid satellites
+ double age; // age of differential (s)
+ double ratio; // AR ratio factor for valiation
+
+ int pos_stat; // return from pntpos
+ Eigen::Vector3d lat_lon; // latitude_longitude_altitude
+ };
+
+ GNSSUtils::getPosOutput getPos(const std::shared_ptr<Observations> & _observations,
+ const std::shared_ptr<Navigation> & _navigation);
+
+ Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef);
+}
+#endif
diff --git a/include/gnss_utils/navigation.h b/include/gnss_utils/navigation.h
new file mode 100644
index 0000000000000000000000000000000000000000..a58c834e807cf31950b5b3a9ea705e30ca685f1a
--- /dev/null
+++ b/include/gnss_utils/navigation.h
@@ -0,0 +1,61 @@
+#ifndef NAVIGATION_H
+#define NAVIGATION_H
+
+#include <vector>
+#include <iostream>
+#include <memory>
+
+
+extern "C"
+{
+ #include "../deps/RTKLIB/src/rtklib.h"
+}
+
+namespace GNSSUtils
+{
+ class Navigation
+ {
+ public:
+ // Constructor & Destructor
+ Navigation();
+ ~Navigation();
+
+ // Public objects
+
+ // Public methods
+
+ void clearNavigation();
+
+ void setNavigation(nav_t nav);
+
+ const nav_t & getNavigation() const;
+ nav_t & getNavigation();
+
+
+ /****************** Array memory management ******************/
+
+
+ // Ephemeris
+ void allocateEphemeris(int n_sat = MAXSAT);
+ void deleteEphemeris();
+
+ void allocateGLONASSEphemeris(int n_sat = NSATGLO);
+ void deleteGLONASSEphemeris();
+
+ void allocateSBASEphemeris(int n_sat = NSATSBS*2); //SBAS
+ void deleteSBASEphemeris();
+
+ void allocateAlmanac(int n_sat = MAXSAT);
+ void deleteAlmanac();
+
+ private:
+
+ // rtklib-like attribute to represent the different navigation msgs for a given epoch
+ nav_t nav_;
+
+ // Private methods
+
+
+ };
+}
+#endif
diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
new file mode 100644
index 0000000000000000000000000000000000000000..4293b07ba6d2f1a8c39d364ef2c9253ff41e96c4
--- /dev/null
+++ b/include/gnss_utils/observations.h
@@ -0,0 +1,50 @@
+#ifndef OBSEVATIONS_H
+#define OBSERVATIONS_H
+
+#include <vector>
+#include <iostream>
+#include <memory>
+
+
+
+extern "C"
+{
+ #include "../deps/RTKLIB/src/rtklib.h"
+}
+
+namespace GNSSUtils
+{
+ class Observations
+ {
+ public:
+ // Constructor & Destructor
+ Observations();
+ ~Observations();
+
+ // Public objects
+
+ // Public methods
+
+
+ /* - Observations - */
+
+ void clearObservations();
+
+ void pushObservation(obsd_t obs);
+
+ std::vector<obsd_t> getObservations();
+
+
+
+ private:
+ // Private objects
+ // rtklib-like attribute to represent the different observation msgs for a given epoch
+ std::vector<obsd_t> obs_vector_;
+
+
+ // Private methods
+
+
+ };
+}
+#endif
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index cc0421b22732bbc4d4f41d7d6415b8bdb0175d6f..407da06c9b0e07578e289988563c99090156825d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,11 +1,33 @@
+# rtklib path
+SET(RTKLIB_DIR ../deps/RTKLIB)
+SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
+
# driver source files
-SET(sources gnss_utils.cpp observation.cpp)
+SET(SOURCES
+ gnss_utils.cpp
+ observations.cpp
+ navigation.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
+ ${RTKLIB_SRC_DIR}/rinex.c)
-# application header files
-SET(headers ../include/gnss_utils.h ../include/observation.h)
-# RTKLIB
-INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindRTKLIB.cmake)
+# application header files
+SET(HEADERS
+ ../include/gnss_utils/gnss_utils.h
+ ../include/gnss_utils/observations.h
+ ../include/gnss_utils/navigation.h)
# Eigen #######
FIND_PACKAGE(Eigen3 REQUIRED)
@@ -20,10 +42,10 @@ FIND_PACKAGE(Boost REQUIRED)
link_directories(/usr/lib/x86_64-linux-gnu/)
# Adding include directories
-INCLUDE_DIRECTORIES(. ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
+INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
# create the shared library
-ADD_LIBRARY(gnss_utils SHARED ${sources})
+ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
# Installing
@@ -31,7 +53,7 @@ INSTALL(TARGETS gnss_utils
RUNTIME DESTINATION bin
LIBRARY DESTINATION /usr/local/lib
ARCHIVE DESTINATION lib)
-INSTALL(FILES ${headers} DESTINATION include/gnss_utils)
+INSTALL(FILES ${HEADERS} DESTINATION include/gnss_utils)
# INSTALL(FILES ../gnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
INSTALL(FILES ../Findgnss_utils.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
ADD_SUBDIRECTORY(examples)
diff --git a/src/examples/CMakeLists.txt b/src/examples/CMakeLists.txt
index ece32987fb14d662a1e2bef7d9f0d848dbb7f2f0..12d787d210f74ab3fa8ddfe041661bd77684b075 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -1,4 +1,8 @@
+# include headers
+INCLUDE_DIRECTORIES(../../include)
+
# create an example application
ADD_EXECUTABLE(gnss_utils_test gnss_utils_test.cpp)
+
# link necessary libraries
TARGET_LINK_LIBRARIES(gnss_utils_test gnss_utils)
diff --git a/src/examples/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 8fd4243b068ee72957dfd3bf6a81682e9b367b6a..569d1448d6cf5b8451f2b8acae56108cf24e825f 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -1,40 +1,213 @@
-#include "../../include/gnss_utils.h"
-#include "../../include/observation.h"
+#include "gnss_utils/observations.h"
+#include "gnss_utils/navigation.h"
+
+#include <typeinfo>
+
+#include <boost/typeof/typeof.hpp>
+
#include <iostream>
+extern "C"
+{
+ #include "../deps/RTKLIB/src/rinex.c"
+}
+
using namespace GNSSUtils;
+
+int createObsAndNav(Observations* observations, char* obs_path, Navigation* navigation, char* nav_path)
+{
+ // Time
+ double ts_d[] = {2018, 5, 17, 14, 1, 2};
+ gtime_t ts = epoch2time(ts_d);
+
+ double te_d[] = {2018, 5, 17, 14, 42, 8};
+ gtime_t te = epoch2time(te_d);
+
+ double tint = 0.1;
+
+ // Create options container
+ char* opt = "-SYS=G";
+
+ // Create receiver identifier
+ int rcv = 1;
+
+ // Create object types
+ rnxopt_t rnx_opt;
+
+ // Create obsd_t object to hold the observations
+ obs_t obs;
+ obs.data = (obsd_t *) malloc(sizeof(obsd_t)*MAXSAT);
+
+ /* header */
+ std::cout << "------------" << std::endl;
+ std::cout << "Observations" << std::endl;
+ std::cout << "------------" << std::endl;
+
+ if (readrnx(obs_path, rcv, opt, &obs, NULL, NULL))
+ {
+ sortobs(&obs);
+ obs.data[0].P[0] = 21597659.275;
+ obs.data[1].P[0] = 22348322.550;
+ obs.data[2].P[0] = 20873167.574;
+ obs.data[3].P[0] = 20920707.830;
+
+ std::cout << "Obs number: " << obs.n << std::endl;
+
+
+ }
+
+
+ else
+ {
+ std::cout << "Couldn't load provided observation file" << std::endl;
+ return 0;
+ }
+
+
+
+ for (int i=0; i < obs.n; i++)
+ {
+ std::cout << "time: " << time_str(obs.data[i].time, 3) << " | sat: " << int(obs.data[i].sat) << " | rcv: " << obs.data[i].rcv <<
+ " | SNR: " << obs.data[i].SNR[0] << " | LLI: " << obs.data[i].LLI[0] << " | code: " << obs.data[i].code[0] <<
+ " | L: " << obs.data[i].L[0] << " | P: " << obs.data[i].P[0] << " | D: " << obs.data[i].D[0] << std::endl;
+ observations->pushObservation(obs.data[i]);
+ }
+
+ free(obs.data);
+
+ /* header */
+ std::cout << "----------" << std::endl;
+ std::cout << "Navigation" << std::endl;
+ std::cout << "----------" << std::endl;
+
+ /* Load _nav attribute into nav variable */
+ nav_t nav = navigation->getNavigation();
+
+
+ if (readrnx(nav_path, rcv, opt, NULL, &nav, NULL))
+ {
+ std::cout << "Navigation file loaded." << std::endl;
+ std::cout << "GPS satellites in navigation file: " << nav.n << std::endl;
+ std::cout << "GLONASS satellites in navigation file: " << nav.ng << std::endl;
+ std::cout << "SBAS satellites in navigation file: " << nav.ns << std::endl;
+ std::cout << "Almanac satellites in navigation file: " << nav.na << std::endl;
+ uniqnav(&nav);
+ }
+
+
+ else
+ {
+ std::cout << "Couldn't load provided navigation file" << std::endl;
+ return 0;
+ }
+
+
+ /* Print Constellation Satellites ids */
+ for (int i=0;i<nav.n;i++)
+ {
+ std::cout << i << " GPS Sat Id: " << nav.eph[i].sat << std::endl;
+ }
+
+ for (int i=0;i<nav.ng;i++)
+ {
+ std::cout << i << " GLONASS Sat Id: " << nav.geph[i].sat << std::endl;
+ }
+
+ for (int i=0;i<nav.ns;i++)
+ {
+ std::cout << i << " SBAS Sat Id: " << nav.seph[i].sat << std::endl;
+ }
+
+
+ /* Load nav into Navigation object*/
+ navigation->setNavigation(nav);
+
+ std::cout << "Navigation message loaded to Navigation class." << std::endl;
+
+ return 1;
+}
+
+
+
+
+
int main(int argc, char *argv[])
{
- // header
+ /* header */
std::cout << "--------------------------" << std::endl;
std::cout << "GNSS Utils Library Example" << std::endl;
std::cout << "--------------------------" << std::endl;
- // create a Receiver object
- GNSSUtils::Receiver test_rcv;
-
- // create a Observation object
- gtime_t ts={0};
- unsigned char q=1, w=2, e=3;
- std::vector<unsigned char> vu({q, w, e});
- std::vector<double> vd({1., 2., 3.});
- std::vector<float> vf({1., 2., 3.});
- Observation test_obs(ts, 1, 1, vu, vu, vu, vd, vd, vf);
-
- // Display current Observation
- std::cout << "Current observation (sat): " << "(" << test_obs.getSat() << ")" << std::endl;
- std::cout << "Current observation (SNR): " << "(" ;
-
-
-
- for (unsigned char i=0; i < 3; ++i)
- std::cout << test_obs.getSNR()[i] << ", ";
- std::cout << ")" << std::endl;
-
-
- obsd_t obs = test_obs.convert2rtk();
- std::cout << "Observation SNR in RTKLIB format: " << "(";
- for (unsigned char i=0; i < 3; ++i)
- std::cout << obs.SNR[i] << ", ";
- std::cout << ")" << std::endl;
+
+
+ // create Observations object
+ Observations observations;
+
+ // create Navigation object
+ Navigation navigation;
+
+ createObsAndNav(&observations, "../src/examples/raw_201805171357.obs", &navigation, "../src/examples/raw_201805171357.nav");
+
+ nav_t nav = navigation.getNavigation();
+
+ std::cout << "Navigation eph number " << nav.n << std::endl;
+
+ /* Set processing options */
+
+ /* header */
+ std::cout << "------------------" << std::endl;
+ std::cout << "Processing options" << std::endl;
+ std::cout << "------------------" << std::endl;
+
+ prcopt_t prcopt = prcopt_default;
+ prcopt.mode = PMODE_SINGLE;
+ prcopt.soltype = 0;
+ prcopt.nf = 1;
+ prcopt.navsys = SYS_GPS;
+ //prcopt.elmin = 1.05; // 60 degrees = 1.05 rad
+ prcopt.sateph = EPHOPT_BRDC;
+ prcopt.ionoopt = IONOOPT_OFF;
+ prcopt.tropopt = TROPOPT_OFF;
+ prcopt.dynamics = 0;
+ prcopt.tidecorr = 0;
+ prcopt.sbascorr = SBSOPT_FCORR;
+ prcopt.ru[0] = 4789374.0336;
+ prcopt.ru[1] = 177048.3292;
+ prcopt.ru[2] = 4194542.6444;
+
+ std::cout << "Processing options defined" << std::endl;
+
+
+ //Compute spp
+
+ /* header */
+ std::cout << "-----------" << std::endl;
+ std::cout << "pntpos call" << std::endl;
+ std::cout << "-----------" << std::endl;
+
+ int stat;
+
+ sol_t solb={{0}};
+
+ char msg[128]="";
+
+ std::vector<obsd_t> obs = observations.getObservations();
+
+ for (int i=0; i < obs.size(); i++)
+ {
+ std::cout << "time: " << time_str(obs[i].time, 3) << " | sat: " << int(obs[i].sat) << " | rcv: " << obs[i].rcv <<
+ " | SNR: " << obs[i].SNR[0] << " | LLI: " << obs[i].LLI[0] << " | code: " << obs[i].code[0] <<
+ " | L: " << obs[i].L[0] << " | P: " << obs[i].P[0] << " | D: " << obs[i].D[0] << std::endl;
+ }
+
+ std::cout << "obs.size(): " << obs.size() << std::endl;
+
+ stat = pntpos(&obs[0], obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
+
+ std::cout << "msg: " << msg << std::endl;
+
+ std::cout << "sol.stat: " << solb.stat << std::endl;
+
+ std::cout << "Position: " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
+
}
diff --git a/src/examples/raw_201805171357.nav b/src/examples/raw_201805171357.nav
new file mode 100644
index 0000000000000000000000000000000000000000..fcd505727f62595cdcb7d6609f229eba3d34bcea
--- /dev/null
+++ b/src/examples/raw_201805171357.nav
@@ -0,0 +1,241 @@
+ 3.03 N: GNSS NAV DATA M: Mixed RINEX VERSION / TYPE
+RTKCONV-QT 2.4.3 Eml 20180518 083005 UTC PGM / RUN BY / DATE
+log: /home/fherrero/Desktop/rtk_data/may17_street/rover/ra COMMENT
+format: u-blox COMMENT
+ END OF HEADER
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diff --git a/src/examples/raw_201805171357.obs b/src/examples/raw_201805171357.obs
new file mode 100644
index 0000000000000000000000000000000000000000..cf18d78b9c11bf8ca48f2fea2bb01bb2db3e344a
--- /dev/null
+++ b/src/examples/raw_201805171357.obs
@@ -0,0 +1,36 @@
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+E SYS / PHASE SHIFT
+J SYS / PHASE SHIFT
+S SYS / PHASE SHIFT
+C SYS / PHASE SHIFT
+ 0 GLONASS SLOT / FRQ #
+ C1C 0.000 C1P 0.000 C2C 0.000 C2P 0.000 GLONASS COD/PHS/BIS
+ END OF HEADER
+> 2018 5 17 14 1 2.0020000 0 5
+G25 22348322.550 2 117441226.71621 -3039.055 45.000
+G29 20873167.574 9 -2449.652 23.000
+R11 20330782.856 9 108641485.22725 -3329.648 32.000
+G31 20920707.830 8 109939061.00922 -1587.315 39.000
+G21 21597659.275 8 113496465.14223 1343.465 37.000
+
diff --git a/src/examples/raw_201805171357.pos b/src/examples/raw_201805171357.pos
new file mode 100644
index 0000000000000000000000000000000000000000..7030b0bf011cd2c18784093eceb12137873521f9
--- /dev/null
+++ b/src/examples/raw_201805171357.pos
@@ -0,0 +1,12 @@
+% program : RTKPOST-QT ver.2.4.3 Emlid b28
+% inp file : /home/fherrero/Desktop/rtk_data/may17_street/rover/raw_201805171357.obs
+% inp file : /home/fherrero/Desktop/rtk_data/may17_street/base/raw_201805171405.obs
+% inp file : /home/fherrero/Desktop/rtk_data/may17_street/rover/raw_201805171357.nav
+% obs start : 2018/05/17 14:01:02.0 GPST (week2001 396062.0s)
+% obs end : 2018/05/17 14:42:08.6 GPST (week2001 398528.6s)
+% ref pos : 41.383326247 2.117100983 105.6453
+%
+% (lat/lon/height=WGS84/ellipsoidal,Q=1:fix,2:float,3:sbas,4:dgps,5:single,6:ppp,ns=# of satellites)
+% GPST latitude(deg) longitude(deg) height(m) Q ns sdn(m) sde(m) sdu(m) sdne(m) sdeu(m) sdun(m) age(s) ratio
+2018/05/17 14:01:02.002 41.383293114 2.116101115 -91.6641 5 5 11.9771 18.8489 79.2352 -14.4364 38.1163 -29.5030 -330.00 0.0
+
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index 16f173b9ee18f2a690af3dbd67574c852d222b89..ed36ae3e1e92c58b0bb2b9f27ed360cd8a4246ac 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -1,71 +1,69 @@
-#include "../include/gnss_utils.h"
+#include "gnss_utils/gnss_utils.h"
-using namespace GNSSUtils;
-
-/******************************* RECEIVER CLASS *******************************************/
-
-Receiver::Receiver()
-{
-
-}
-
-Receiver::~Receiver()
-{
-
-}
-
-
-/* - Observation - */
-
-void Receiver::clearObservations()
-{
- _obsVector.clear();
-}
-
-void Receiver::pushObservation(obsd_t obs)
-{
- _obsVector.push_back(obs);
-}
-
-std::vector<obsd_t> Receiver::getObservations()
-{
- return this->_obsVector;
-}
-
-
-/* - Navigation - */
-
-void Receiver::clearNavigation()
+namespace GNSSUtils
{
- _navVector.clear();
-}
+ GNSSUtils::getPosOutput getPos(const std::shared_ptr<GNSSUtils::Observations> & _observations,
+ const std::shared_ptr<GNSSUtils::Navigation> & _navigation)
+ {
+ // Remove duplicated satellites
+ uniqnav(&(_navigation->getNavigation()));
+
+ // Define processing options
+ prcopt_t prcopt = prcopt_default;
+ prcopt.mode = PMODE_SINGLE;
+ prcopt.soltype = 0;
+ prcopt.nf = 1;
+ prcopt.navsys = SYS_GPS;
+ //prcopt.elmin = 1.05; // 60 degrees = 1.05 rad
+ prcopt.sateph = EPHOPT_BRDC;
+ prcopt.ionoopt = IONOOPT_OFF;
+ prcopt.tropopt = TROPOPT_OFF;
+ prcopt.dynamics = 0;
+ prcopt.tidecorr = 0;
+ prcopt.sbascorr = SBSOPT_FCORR;
+
+ // Define error msg
+ char msg[128] = "";
+
+ GNSSUtils::getPosOutput output;
+ sol_t sol;
+ sol = {{0}};
+
+ output.pos_stat = pntpos(&(_observations->getObservations()[0]), _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_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 = ecefToLatLon(output.pos);
+
+ return output;
+ }
+
+ Eigen::Vector3d ecefToLatLon(const Eigen::Vector3d & _ecef)
+ {
+ double pos[3];
+ ecef2pos(&_ecef(0), pos);
+
+ return Eigen::Map<Eigen::Vector3d>(pos);
+ }
-void Receiver::pushNavigation(nav_t nav)
-{
- _navVector.push_back(nav);
-}
-std::vector<nav_t> Receiver::getNavigation()
-{
- return this->_navVector;
}
-
-
-
-
-
-
-
-int Receiver::getSPP(double *azel, char *msg)
-{
- obsd_t *obs = &this->_obsVector[0];
- int n = this->_obsVector.size();
-
- return int pntpos(*obs, n, nav_t *nav, *opt, *sol, *azel, *ssat, *msg)
-}
-
-
-
-
-
-
diff --git a/src/navigation.cpp b/src/navigation.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..0bdf9edee36de392231cbee5b9fbaf127a340725
--- /dev/null
+++ b/src/navigation.cpp
@@ -0,0 +1,165 @@
+#include "gnss_utils/navigation.h"
+
+
+using namespace GNSSUtils;
+
+
+Navigation::Navigation()
+{}
+
+Navigation::~Navigation()
+{
+ clearNavigation();
+ //free(_nav);
+}
+
+void Navigation::clearNavigation()
+{
+ deleteEphemeris();
+ deleteGLONASSEphemeris();
+ deleteSBASEphemeris();
+ deleteAlmanac();
+}
+
+void Navigation::setNavigation(nav_t _nav)
+{
+ nav_ = _nav;
+}
+
+const nav_t & Navigation::getNavigation() const
+{
+ return nav_;
+}
+
+nav_t & Navigation::getNavigation()
+{
+ return nav_;
+}
+
+
+/****************** Array memory management ******************/
+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;
+ /*
+ if (this->_nav->eph)
+ {
+ //_nav->eph = (eph_t *)realloc(_nav->eph, 2 * MAXSAT * sizeof(eph_t));
+ }
+
+ else
+ {
+ this->_nav->eph = (eph_t *) malloc(2 * MAXSAT * sizeof(eph_t));
+ }
+ */
+}
+void Navigation::deleteEphemeris()
+{
+ free(nav_.eph);
+}
+
+void Navigation::allocateGLONASSEphemeris(int n_sat)
+{
+ geph_t geph0={0,-1};
+ int i;
+ nav_.geph = (geph_t *)malloc(sizeof(geph_t)*n_sat);
+ /*
+ for (i=0;i<NSATGLO ;i++) _nav.geph[i] = geph0;
+
+ if (this->_nav->geph)
+ {
+ //_nav->geph = (geph_t *)realloc(_nav->geph, NSATGLO * sizeof(geph_t));
+ }
+
+ else
+ {
+ this->_nav->geph = (geph_t *) malloc(2 * NSATGLO * sizeof(geph_t));
+ }
+ */
+
+}
+void Navigation::deleteGLONASSEphemeris()
+{
+ free(nav_.geph);
+ // if (_nav->geph)
+ // {
+ // free(_nav->geph);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
+ //
+}
+
+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;
+ /*
+ if (this->_nav->seph)
+ {
+ //_nav->seph = (seph_t *)realloc(_nav->seph, NSATSBS * sizeof(seph_t));
+ }
+
+ else
+ {
+ this->_nav->seph = (seph_t *) malloc(2 * NSATSBS * sizeof(seph_t));
+ }
+ */
+}
+void Navigation::deleteSBASEphemeris()
+{
+ free(nav_.seph);
+ // if (_nav->seph)
+ // {
+ // free(_nav->seph);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
+}
+
+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;
+ /*
+ if (this->_nav->alm)
+ {
+ //_nav->alm = (alm_t *)realloc(_nav->alm, MAXSAT * sizeof(alm_t));
+ }
+
+ else
+ {
+ this->_nav->alm = (alm_t *) malloc(2 * MAXSAT * sizeof(alm_t));
+ }
+ */
+}
+void Navigation::deleteAlmanac()
+{
+ free(nav_.alm);
+
+ // if (_nav->alm)
+ // {
+ // free(_nav->alm);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
+}
diff --git a/src/observations.cpp b/src/observations.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..db7529d4d7ad37a518f141057b7e120322bb7952
--- /dev/null
+++ b/src/observations.cpp
@@ -0,0 +1,29 @@
+#include "gnss_utils/observations.h"
+
+using namespace GNSSUtils;
+
+
+Observations::Observations()
+{
+
+}
+
+Observations::~Observations()
+{
+ this->obs_vector_.erase(obs_vector_.begin(), obs_vector_.end());
+}
+
+void Observations::clearObservations()
+{
+ this->obs_vector_.clear();
+}
+
+void Observations::pushObservation(obsd_t obs)
+{
+ this->obs_vector_.push_back(obs);
+}
+
+std::vector<obsd_t> Observations::getObservations()
+{
+ return this->obs_vector_;
+}