diff --git a/include/gnss_utils/gnss_utils.h b/include/gnss_utils/gnss_utils.h
index c6ae53f8e037dad470402d9596c7d50774a1824a..f77bf48f3c1fa5ce540ea6d83904c8d684aa8dfd 100644
--- a/include/gnss_utils/gnss_utils.h
+++ b/include/gnss_utils/gnss_utils.h
@@ -4,6 +4,11 @@
#include <vector>
#include <iostream>
#include <memory>
+
+#include <eigen3/Eigen/Dense>
+#include <eigen3/Eigen/Geometry>
+#include <eigen3/Eigen/Sparse>
+
#include "observations.h"
#include "navigation.h"
@@ -14,6 +19,27 @@ extern "C"
namespace GNSSUtils
{
- static int getPos(Observations obs, Navigation nav, sol_t sol);
+ 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
index a627ff80478c37b4bf8a6eab755906bef2ce961d..a58c834e807cf31950b5b3a9ea705e30ca685f1a 100644
--- a/include/gnss_utils/navigation.h
+++ b/include/gnss_utils/navigation.h
@@ -37,99 +37,21 @@ namespace GNSSUtils
// 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();
-
- // UTC
- void allocateUTCGPS(int n); //GPS
-
- void deleteUTCGPS();
-
- void allocateUTCGlo(int n); // Glo
-
- void deleteUTCGlo();
-
- void allocateUTCGal(int n); // Galileo
-
- void deleteUTCGal();
-
- void allocateUTCQZS(int n); // QZS
-
- void deleteUTCQZS();
-
- void allocateUTCCMP(int n); // BeiDou
-
- void deleteUTCCMP();
-
- void allocateUTCSBAS(int n); // SBAS
-
- void deleteUTCSBAS();
-
-
- // Ionosphere
- void allocateIonGPS(int n); // GPS
-
- void deleteIonGPS();
-
- void allocateIonGal(int n); // Galileo
-
- void deleteIonGal();
-
- void allocateIonQZS(int n); // QZS
-
- void deleteIonQZS();
-
- void allocateIonCMP(int n); // BeiDou
-
- void deleteIonCMP();
-
-
- //Others
- void allocatelam(int n);
-
- void deletelam();
-
- void allocatecbias(int n);
-
- void deletecbias();
-
- void allocatewlbias(int n);
-
- void deletewlbias();
-
- void allocateglocpbias(int n);
-
- void deleteglocpbias();
-
- void allocateglofcn(int n);
-
- void deleteglofcn();
-
- void allocatepcv(int n);
-
- void deletepcv();
-
- void allocatesbsion(int n);
-
- void deletesbsion();
-
private:
// rtklib-like attribute to represent the different navigation msgs for a given epoch
- nav_t _nav;
+ nav_t nav_;
// Private methods
diff --git a/include/gnss_utils/observations.h b/include/gnss_utils/observations.h
index 16e230cbb0f9e09a5be19cdddf3a975fed8097ba..4293b07ba6d2f1a8c39d364ef2c9253ff41e96c4 100644
--- a/include/gnss_utils/observations.h
+++ b/include/gnss_utils/observations.h
@@ -39,7 +39,7 @@ namespace GNSSUtils
private:
// Private objects
// rtklib-like attribute to represent the different observation msgs for a given epoch
- std::vector<obsd_t> _obsVector;
+ std::vector<obsd_t> obs_vector_;
// Private methods
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index d6c0627251bdbc930749d617133da5333321a4f7..407da06c9b0e07578e289988563c99090156825d 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,33 +1,33 @@
# rtklib path
-set(rtklib_dir ../deps/RTKLIB)
-set(rtklib_src_dir ${rtklib_dir}/src)
+SET(RTKLIB_DIR ../deps/RTKLIB)
+SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
# driver source files
-SET(sources
+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)
+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/observations.h
- ../include/navigation.h)
+SET(HEADERS
+ ../include/gnss_utils/gnss_utils.h
+ ../include/gnss_utils/observations.h
+ ../include/gnss_utils/navigation.h)
# Eigen #######
FIND_PACKAGE(Eigen3 REQUIRED)
@@ -45,7 +45,7 @@ link_directories(/usr/lib/x86_64-linux-gnu/)
INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
# create the shared library
-ADD_LIBRARY(gnss_utils SHARED ${sources} ${rtklib_src})
+ADD_LIBRARY(gnss_utils SHARED ${SOURCES} ${RTKLIB_SRC})
TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
# Installing
@@ -53,7 +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/gnss_utils_test.cpp b/src/examples/gnss_utils_test.cpp
index 646299a5a2f51faa0bc12442f4d0d043127f2b58..569d1448d6cf5b8451f2b8acae56108cf24e825f 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -146,7 +146,7 @@ int main(int argc, char *argv[])
// create Navigation object
Navigation navigation;
- createObsAndNav(&observations, "../examples/raw_201805171357.obs", &navigation, "../examples/raw_201805171357.nav");
+ createObsAndNav(&observations, "../src/examples/raw_201805171357.obs", &navigation, "../src/examples/raw_201805171357.nav");
nav_t nav = navigation.getNavigation();
diff --git a/src/gnss_utils.cpp b/src/gnss_utils.cpp
index 192710aa89533d1fd448567b32e71c100a44ca63..ed36ae3e1e92c58b0bb2b9f27ed360cd8a4246ac 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -1,36 +1,69 @@
#include "gnss_utils/gnss_utils.h"
-using namespace GNSSUtils;
-
-static int getPos(Observations observations, Navigation navigation, sol_t sol)
+namespace GNSSUtils
{
- // Define observations
- std::vector<obsd_t> obs = observations.getObservations();
-
- // Define navigation
- nav_t nav = 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 solution
- sol_t solb={{0}};
-
- // Define error msg
- char msg[128]="";
-
- int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
-
- return stat;
+ 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);
+ }
+
+
}
diff --git a/src/navigation.cpp b/src/navigation.cpp
index edb0c55334de7c691ae35f25f72fe98ace63263e..0bdf9edee36de392231cbee5b9fbaf127a340725 100644
--- a/src/navigation.cpp
+++ b/src/navigation.cpp
@@ -5,14 +5,7 @@ using namespace GNSSUtils;
Navigation::Navigation()
-{
- //_nav = (nav_t *) malloc(sizeof(nav_t));
- allocateEphemeris();
- allocateGLONASSEphemeris();
- allocateSBASEphemeris();
-
- allocateAlmanac();
-}
+{}
Navigation::~Navigation()
{
@@ -25,92 +18,33 @@ void Navigation::clearNavigation()
deleteEphemeris();
deleteGLONASSEphemeris();
deleteSBASEphemeris();
-
deleteAlmanac();
-
- /*
- this->deleteUTCGPS();
- this->deleteUTCGlo();
- this->deleteUTCGal();
- this->deleteUTCQZS();
- this->deleteUTCCMP();
- this->deleteUTCSBAS();
-
- this->deleteIonGPS();
- this->deleteIonGal();
- this->deleteIonQZS();
- this->deleteIonCMP();
-
- this->deletelam();
- this->deletecbias();
-
- this->deletewlbias();
- this->deleteglocpbias();
- this->deleteglofcn();
-
- this->deletepcv();
- this->deletesbsion();
- */
}
-void Navigation::setNavigation(nav_t nav)
+void Navigation::setNavigation(nav_t _nav)
{
- /*
- allocateEphemeris();
- allocateGLONASSEphemeris();
- allocateSBASEphemeris();
-
- allocateAlmanac();
-
-
- this->allocateUTCGPS(4);
- this->allocateUTCGlo(4);
- this->allocateUTCGal(4);
- this->allocateUTCQZS(4);
- this->allocateUTCCMP(4);
- this->allocateUTCSBAS(4);
-
- this->allocateIonGPS(8);
- this->allocateIonGal(4);
- this->allocateIonQZS(8);
- this->allocateIonCMP(8);
-
- this->allocatelam(MAXSAT*NFREQ);
- this->allocatecbias(MAXSAT*3);
-
- this->allocatewlbias(MAXSAT);
- this->allocateglocpbias(4);
- this->allocateglofcn(MAXPRNGLO+1);
-
- this->allocatepcv(MAXSAT);
- this->allocatesbsion(MAXBAND+1);
- */
-
-
- _nav = nav;
+ nav_ = _nav;
}
const nav_t & Navigation::getNavigation() const
{
- return _nav;
+ return nav_;
}
nav_t & Navigation::getNavigation()
{
- return _nav;
+ 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;
+ 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)
{
@@ -123,29 +57,16 @@ void Navigation::allocateEphemeris(int n_sat)
}
*/
}
-
void Navigation::deleteEphemeris()
{
- //free(_nav.eph);
- /*
- if (_nav->eph)
- {
- free(_nav->eph);
- }
-
- else
- {
- // Do nothing
- }
- */
+ 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);
+ nav_.geph = (geph_t *)malloc(sizeof(geph_t)*n_sat);
/*
for (i=0;i<NSATGLO ;i++) _nav.geph[i] = geph0;
@@ -161,22 +82,19 @@ void Navigation::allocateGLONASSEphemeris(int n_sat)
*/
}
-
void Navigation::deleteGLONASSEphemeris()
{
- /*
- free(_nav->geph);
-
- if (_nav->geph)
- {
- free(_nav->geph);
- }
-
- else
- {
- // Do nothing
- }
- */
+ free(nav_.geph);
+ // if (_nav->geph)
+ // {
+ // free(_nav->geph);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
+ //
}
void Navigation::allocateSBASEphemeris(int n_sat)
@@ -184,8 +102,8 @@ 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;
+ 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)
{
@@ -198,22 +116,18 @@ void Navigation::allocateSBASEphemeris(int n_sat)
}
*/
}
-
void Navigation::deleteSBASEphemeris()
{
- /*
- free(_nav->seph);
-
- if (_nav->seph)
- {
- free(_nav->seph);
- }
-
- else
- {
- // Do nothing
- }
- */
+ free(nav_.seph);
+ // if (_nav->seph)
+ // {
+ // free(_nav->seph);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
}
void Navigation::allocateAlmanac(int n_sat)
@@ -221,8 +135,8 @@ 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;
+ 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)
{
@@ -235,502 +149,17 @@ void Navigation::allocateAlmanac(int n_sat)
}
*/
}
-
void Navigation::deleteAlmanac()
{
- /*
- free(_nav->alm);
-
- if (_nav->alm)
- {
- free(_nav->alm);
- }
-
- else
- {
- // Do nothing
- }
- */
-}
-
-
-// UTC
-/*
-void Navigation::allocateUTCGPS(int n) //GPS
-{
- if (_nav->utc_gps)
- {
- _nav->utc_gps = (double *)realloc(_nav->utc_gps, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_gps = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-
-void Navigation::deleteUTCGPS()
-{
- if (_nav->utc_gps)
- {
- free(_nav->utc_gps);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCGlo(int n) //GLONASS
-{
- if (_nav->utc_glo)
- {
- _nav->utc_glo = (double *)realloc(_nav->utc_glo, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_glo = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCGlo()
-{
- if (_nav->utc_glo)
- {
- free(_nav->utc_glo);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCGal(int n) //Galileo
-{
- if (_nav->utc_gal)
- {
- _nav->utc_gal = (double *)realloc(_nav->utc_gal, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_gal = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCGal()
-{
- if (_nav->utc_gal)
- {
- free(_nav->utc_gal);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCQZS(int n) //QZS
-{
- if (_nav->utc_qzs)
- {
- _nav->utc_qzs = (double *)realloc(_nav->utc_qzs, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_qzs = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCQZS()
-{
- if (_nav->utc_qzs)
- {
- free(_nav->utc_qzs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCCMP(int n) //BeiDou
-{
- if (_nav->utc_cmp)
- {
- _nav->utc_cmp = (double *)realloc(_nav->utc_cmp, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_cmp = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCCMP()
-{
- if (_nav->utc_cmp)
- {
- free(_nav->utc_cmp);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateUTCSBAS(int n) //SBAS
-{
- if (_nav->utc_sbs)
- {
- _nav->utc_sbs = (double *)realloc(_nav->utc_sbs, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_sbs = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteUTCSBAS()
-{
- if (_nav->utc_sbs)
- {
- free(_nav->utc_sbs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-// Ionosphere
-
-void Navigation::allocateIonGPS(int n) //GPS
-{
- if (_nav->ion_gps)
- {
- _nav->ion_gps = (double *)realloc(_nav->ion_gps, n * sizeof(double));
- }
-
- else
- {
- _nav->ion_gps = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonGPS()
-{
- if (_nav->ion_gps)
- {
- free(_nav->ion_gps);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateIonGal(int n) //Galileo
-{
- if (_nav->utc_gal)
- {
- _nav->utc_gal = (double *)realloc(_nav->utc_gal, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_gal = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonGal()
-{
- if (_nav->utc_gal)
- {
- free(_nav->utc_gal);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateIonQZS(int n) //QZS
-{
- if (_nav->utc_qzs)
- {
- _nav->utc_qzs = (double *)realloc(_nav->utc_qzs, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_qzs = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonQZS()
-{
- if (_nav->utc_qzs)
- {
- free(_nav->utc_qzs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateIonCMP(int n) //BeiDou
-{
- if (_nav->utc_cmp)
- {
- _nav->utc_cmp = (double *)realloc(_nav->utc_cmp, n * sizeof(double));
- }
-
- else
- {
- _nav->utc_cmp = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteIonCMP()
-{
- if (_nav->utc_cmp)
- {
- free(_nav->utc_cmp);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-// Others
-
-void Navigation::allocatelam(int n)
-{
- if (_nav->lam)
- {
- _nav->lam = (double *)realloc(_nav->lam, n * sizeof(double));
- }
-
- else
- {
- _nav->lam = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deletelam()
-{
- if (_nav->lam)
- {
- free(_nav->lam);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatecbias(int n)
-{
- if (_nav->cbias)
- {
- _nav->cbias = (double *)realloc(_nav->cbias, n * sizeof(double));
- }
-
- else
- {
- _nav->cbias = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deletecbias()
-{
- if (_nav->cbias)
- {
- free(_nav->cbias);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatewlbias(int n)
-{
- if (_nav->wlbias)
- {
- _nav->wlbias = (double *)realloc(_nav->wlbias, n * sizeof(double));
- }
-
- else
- {
- _nav->wlbias = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deletewlbias()
-{
- if (_nav->wlbias)
- {
- free(_nav->wlbias);
- }
+ free(nav_.alm);
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateglocpbias(int n)
-{
- if (_nav->glo_cpbias)
- {
- _nav->glo_cpbias = (double *)realloc(_nav->glo_cpbias, n * sizeof(double));
- }
-
- else
- {
- _nav->glo_cpbias = (double *) malloc(n * sizeof(double));
- }
-}
-
-
-void Navigation::deleteglocpbias()
-{
- if (_nav->glo_cpbias)
- {
- free(_nav->glo_cpbias);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocateglofcn(int n)
-{
- if (_nav->glo_fcn)
- {
- _nav->glo_fcn = (char *)realloc(_nav->glo_fcn, n * sizeof(char));
- }
-
- else
- {
- _nav->glo_fcn = (char *) malloc(n * sizeof(char));
- }
-}
-
-
-void Navigation::deleteglofcn()
-{
- if (_nav->glo_fcn)
- {
- free(_nav->glo_fcn);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatepcv(int n)
-{
- if (_nav->pcvs)
- {
- _nav->pcvs = (pcv_t *)realloc(_nav->pcvs, n * sizeof(pcv_t));
- }
-
- else
- {
- _nav->pcvs = (pcv_t*) malloc(n * sizeof(pcv_t));
- }
-}
-
-
-void Navigation::deletepcv()
-{
- if (_nav->pcvs)
- {
- free(_nav->pcvs);
- }
-
- else
- {
- // Do nothing
- }
-}
-
-
-void Navigation::allocatesbsion(int n)
-{
- if (_nav->sbsion)
- {
- _nav->sbsion = (sbsion_t *)realloc(_nav->sbsion, n * sizeof(sbsion_t));
- }
-
- else
- {
- _nav->sbsion = (sbsion_t*) malloc(n * sizeof(sbsion_t));
- }
-}
-
-
-void Navigation::deletesbsion()
-{
- if (_nav->sbsion)
- {
- free(_nav->sbsion);
- }
-
- else
- {
- // Do nothing
- }
+ // if (_nav->alm)
+ // {
+ // free(_nav->alm);
+ // }
+ //
+ // else
+ // {
+ // // Do nothing
+ // }
}
-*/
diff --git a/src/observations.cpp b/src/observations.cpp
index 75d05f150c9f5cb82d37f6e1dd360afd1fa54502..db7529d4d7ad37a518f141057b7e120322bb7952 100644
--- a/src/observations.cpp
+++ b/src/observations.cpp
@@ -10,20 +10,20 @@ Observations::Observations()
Observations::~Observations()
{
- this->_obsVector.erase(_obsVector.begin(), _obsVector.end());
+ this->obs_vector_.erase(obs_vector_.begin(), obs_vector_.end());
}
void Observations::clearObservations()
{
- this->_obsVector.clear();
+ this->obs_vector_.clear();
}
void Observations::pushObservation(obsd_t obs)
{
- this->_obsVector.push_back(obs);
+ this->obs_vector_.push_back(obs);
}
std::vector<obsd_t> Observations::getObservations()
{
- return this->_obsVector;
+ return this->obs_vector_;
}