diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 8ae397c5fba281f4455a6042d5d6727a96e94f25..0000000000000000000000000000000000000000
--- a/.gitignore
+++ /dev/null
@@ -1,4 +0,0 @@
-#Ignore build, bin and lib folders
-bin/
-build/
-lib/
diff --git a/.gitmodules b/.gitmodules
deleted file mode 100644
index 0433a4f7287f938695a2c0a6912b1270ff8929e9..0000000000000000000000000000000000000000
--- a/.gitmodules
+++ /dev/null
@@ -1,3 +0,0 @@
-[submodule "deps/RTKLIB"]
- path = deps/RTKLIB
- url = https://github.com/tomojitakasu/RTKLIB.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7fdfa2d7db4b06b68091b3877a52ca3fdda23502..6ddfb998b6c1640d5fb46d6a57d8a469f5b74b06 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -28,17 +28,13 @@ 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 4c0429fc6831b279bbeb005cdfcb976bf2dc2881..85306e55c56ff0aea7537dcf31d091f2a426d9dc 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 observations.h navigation.h /usr/include/iridrivers /usr/local/include)
+FIND_PATH(gnss_utils_INCLUDE_DIR gnss_utils.h obervation.h /usr/include/iridrivers /usr/local/lib)
FIND_LIBRARY(gnss_utils_LIBRARY
NAMES gnss_utils
- PATHS /usr/lib /usr/local/lib)
+ PATHS /usr/lib /usr/local/lib /usr/local/lib)
IF (gnss_utils_INCLUDE_DIR AND gnss_utils_LIBRARY)
SET(gnss_utils_FOUND TRUE)
@@ -18,3 +18,4 @@ 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
new file mode 100644
index 0000000000000000000000000000000000000000..41289eba5411914f02094b1541e01d573682cd93
--- /dev/null
+++ b/cmake_modules/FindRTKLIB.cmake
@@ -0,0 +1,18 @@
+#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
deleted file mode 160000
index 71db0ffa0d9735697c6adfd06fdf766d0e5ce807..0000000000000000000000000000000000000000
--- a/deps/RTKLIB
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 71db0ffa0d9735697c6adfd06fdf766d0e5ce807
diff --git a/include/gnss_utils.h b/include/gnss_utils.h
new file mode 100644
index 0000000000000000000000000000000000000000..0c5b6ed4320ee047358ce6f0c56592714b069f7d
--- /dev/null
+++ b/include/gnss_utils.h
@@ -0,0 +1,87 @@
+#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
deleted file mode 100644
index f77bf48f3c1fa5ce540ea6d83904c8d684aa8dfd..0000000000000000000000000000000000000000
--- a/include/gnss_utils/gnss_utils.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#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
deleted file mode 100644
index a58c834e807cf31950b5b3a9ea705e30ca685f1a..0000000000000000000000000000000000000000
--- a/include/gnss_utils/navigation.h
+++ /dev/null
@@ -1,61 +0,0 @@
-#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
deleted file mode 100644
index 4293b07ba6d2f1a8c39d364ef2c9253ff41e96c4..0000000000000000000000000000000000000000
--- a/include/gnss_utils/observations.h
+++ /dev/null
@@ -1,50 +0,0 @@
-#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 407da06c9b0e07578e289988563c99090156825d..cc0421b22732bbc4d4f41d7d6415b8bdb0175d6f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,33 +1,11 @@
-# rtklib path
-SET(RTKLIB_DIR ../deps/RTKLIB)
-SET(RTKLIB_SRC_DIR ${RTKLIB_DIR}/src)
-
# driver source files
-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
- ${RTKLIB_SRC_DIR}/rinex.c)
-
+SET(sources gnss_utils.cpp observation.cpp)
# application header files
-SET(HEADERS
- ../include/gnss_utils/gnss_utils.h
- ../include/gnss_utils/observations.h
- ../include/gnss_utils/navigation.h)
+SET(headers ../include/gnss_utils.h ../include/observation.h)
+
+# RTKLIB
+INCLUDE (${PROJECT_SOURCE_DIR}/cmake_modules/FindRTKLIB.cmake)
# Eigen #######
FIND_PACKAGE(Eigen3 REQUIRED)
@@ -42,10 +20,10 @@ FIND_PACKAGE(Boost REQUIRED)
link_directories(/usr/lib/x86_64-linux-gnu/)
# Adding include directories
-INCLUDE_DIRECTORIES(../include/ ${EIGEN3_INCLUDE_DIR} ${Boost_INCLUDE_DIRS} ${RTK_LIB_PATH})
+INCLUDE_DIRECTORIES(. ${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})
TARGET_LINK_LIBRARIES(gnss_utils ${Boost_LIBRARIES})
# Installing
@@ -53,7 +31,7 @@ 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 12d787d210f74ab3fa8ddfe041661bd77684b075..ece32987fb14d662a1e2bef7d9f0d848dbb7f2f0 100644
--- a/src/examples/CMakeLists.txt
+++ b/src/examples/CMakeLists.txt
@@ -1,8 +1,4 @@
-# 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 569d1448d6cf5b8451f2b8acae56108cf24e825f..8fd4243b068ee72957dfd3bf6a81682e9b367b6a 100644
--- a/src/examples/gnss_utils_test.cpp
+++ b/src/examples/gnss_utils_test.cpp
@@ -1,213 +1,40 @@
-#include "gnss_utils/observations.h"
-#include "gnss_utils/navigation.h"
-
-#include <typeinfo>
-
-#include <boost/typeof/typeof.hpp>
-
+#include "../../include/gnss_utils.h"
+#include "../../include/observation.h"
#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 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;
-
+ // 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;
}
diff --git a/src/examples/raw_201805171357.nav b/src/examples/raw_201805171357.nav
deleted file mode 100644
index fcd505727f62595cdcb7d6609f229eba3d34bcea..0000000000000000000000000000000000000000
--- a/src/examples/raw_201805171357.nav
+++ /dev/null
@@ -1,241 +0,0 @@
- 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
deleted file mode 100644
index cf18d78b9c11bf8ca48f2fea2bb01bb2db3e344a..0000000000000000000000000000000000000000
--- a/src/examples/raw_201805171357.obs
+++ /dev/null
@@ -1,36 +0,0 @@
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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
deleted file mode 100644
index 7030b0bf011cd2c18784093eceb12137873521f9..0000000000000000000000000000000000000000
--- a/src/examples/raw_201805171357.pos
+++ /dev/null
@@ -1,12 +0,0 @@
-% 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 ed36ae3e1e92c58b0bb2b9f27ed360cd8a4246ac..16f173b9ee18f2a690af3dbd67574c852d222b89 100644
--- a/src/gnss_utils.cpp
+++ b/src/gnss_utils.cpp
@@ -1,69 +1,71 @@
-#include "gnss_utils/gnss_utils.h"
+#include "../include/gnss_utils.h"
-namespace GNSSUtils
+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()
{
- 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);
- }
+ _navVector.clear();
+}
+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
deleted file mode 100644
index 0bdf9edee36de392231cbee5b9fbaf127a340725..0000000000000000000000000000000000000000
--- a/src/navigation.cpp
+++ /dev/null
@@ -1,165 +0,0 @@
-#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
deleted file mode 100644
index db7529d4d7ad37a518f141057b7e120322bb7952..0000000000000000000000000000000000000000
--- a/src/observations.cpp
+++ /dev/null
@@ -1,29 +0,0 @@
-#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_;
-}