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Commit fc77d8c5 authored by Pep Martí Saumell's avatar Pep Martí Saumell
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CMake and include paths

parent d643029f
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1 merge request!2Resolve "Enable Standard Point Positioning (SPP) computation"
#edit the following line to add the librarie's header files
FIND_PATH(gnss_utils_INCLUDE_DIR observations.h navigation.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)
File moved
File moved
File moved
......@@ -4,7 +4,7 @@ set(rtklib_src_dir ${rtklib_dir}/src)
# driver source files
SET(sources
getPos.cpp
gnss_utils.cpp
observations.cpp
navigation.cpp)
......@@ -16,7 +16,7 @@ SET(rtklib_src
${rtklib_src_dir}/preceph.c
${rtklib_src_dir}/qzslex.c
${rtklib_src_dir}/rtcm.c
${rtklib_src_dir}/rtcm2.c
${rtklib_src_dir}/rtcm2.c
${rtklib_src_dir}/rtcm3.c
${rtklib_src_dir}/rtcm3e.c
${rtklib_src_dir}/ionex.c
......@@ -42,7 +42,7 @@ 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} ${rtklib_src})
......
#include "../../include/observations.h"
#include "../../include/navigation.h"
#include "gnss_utils/observations.h"
#include "gnss_utils/navigation.h"
#include <typeinfo>
......@@ -9,7 +9,7 @@
extern "C"
{
#include "/home/jlaplaza/RTKLIB/src/rinex.c"
#include "../deps/RTKLIB/src/rinex.c"
}
using namespace GNSSUtils;
......@@ -24,7 +24,7 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav
double te_d[] = {2018, 5, 17, 14, 42, 8};
gtime_t te = epoch2time(te_d);
double tint = 0.1;
double tint = 0.1;
// Create options container
char* opt = "-SYS=G";
......@@ -51,25 +51,25 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav
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
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] <<
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]);
}
......@@ -92,17 +92,17 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav
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);
uniqnav(&nav);
}
else
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++)
{
......@@ -118,7 +118,7 @@ int createObsAndNav(Observations* observations, char* obs_path, Navigation* nav
{
std::cout << i << " SBAS Sat Id: " << nav.seph[i].sat << std::endl;
}
/* Load nav into Navigation object*/
navigation->setNavigation(nav);
......@@ -141,12 +141,12 @@ int main(int argc, char *argv[])
// create Observations object
Observations observations;
Observations observations;
// create Navigation object
Navigation navigation;
createObsAndNav(&observations, "/home/jlaplaza/gitlab/gnss_utils/src/examples/raw_201805171357.obs", &navigation, "/home/jlaplaza/gitlab/gnss_utils/src/examples/raw_201805171357.nav");
createObsAndNav(&observations, "../examples/raw_201805171357.obs", &navigation, "../examples/raw_201805171357.nav");
nav_t nav = navigation.getNavigation();
......@@ -158,8 +158,8 @@ int main(int argc, char *argv[])
std::cout << "------------------" << std::endl;
std::cout << "Processing options" << std::endl;
std::cout << "------------------" << std::endl;
prcopt_t prcopt = prcopt_default;
prcopt_t prcopt = prcopt_default;
prcopt.mode = PMODE_SINGLE;
prcopt.soltype = 0;
prcopt.nf = 1;
......@@ -176,8 +176,8 @@ int main(int argc, char *argv[])
prcopt.ru[2] = 4194542.6444;
std::cout << "Processing options defined" << std::endl;
//Compute spp
/* header */
......@@ -195,13 +195,13 @@ int main(int argc, char *argv[])
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] <<
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;
......
#include "../include/getPos.h"
#include "gnss_utils/gnss_utils.h"
using namespace GNSSUtils;
......@@ -11,7 +11,7 @@ static int getPos(Observations observations, Navigation navigation, sol_t sol)
nav_t nav = navigation.getNavigation();
// Define processing options
prcopt_t prcopt = prcopt_default;
prcopt_t prcopt = prcopt_default;
prcopt.mode = PMODE_SINGLE;
prcopt.soltype = 0;
prcopt.nf = 1;
......@@ -29,9 +29,8 @@ static int getPos(Observations observations, Navigation navigation, sol_t sol)
// Define error msg
char msg[128]="";
int stat = pntpos(&(obs[0]), obs.size(), &nav, &prcopt, &solb, NULL, NULL, msg);
return stat;
}
#include "../include/navigation.h"
#include "gnss_utils/navigation.h"
using namespace GNSSUtils;
......
#include "../include/observations.h"
#include "gnss_utils/observations.h"
using namespace GNSSUtils;
......@@ -27,9 +27,3 @@ std::vector<obsd_t> Observations::getObservations()
{
return this->_obsVector;
}
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