Resolve "load from rinex outside classes"

Closes #12 (closed)

src/examples/gnss_utils_test.cpp

@@ -35,83 +35,74 @@ int main(int argc, char* argv[])
 
   // load observations from RINEX file
   std::vector<Observations> obs_rinex =
-      loadObservationsFromRinex("../src/examples/rover_sample.obs", t_start, t_end, dt, opt);
+      loadObservationsFromRinex("../src/examples/sample_data.obs", t_start, t_end, dt, opt);
+  observations = obs_rinex[0];
+  observations.print();
 
-  std::cout << "Number of epochs: " << obs_rinex.size() << std::endl;
+  // RTKLIB trace
+  char str_file[80];
+  snprintf(str_file, sizeof str_file, "../src/examples/trace");
+  tracelevel(5);
+  traceopen(str_file);
 
-  observations = obs_rinex.back();
-  for (auto obs = observations.getObservations().begin(); obs != observations.getObservations().end(); ++obs)
-  {
-    printf("Satellite number: %u \n",obs->sat);
-  }
+  // load navigation from RINEX file
+  navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
+  navigation.print();
 
-  // observations = obs_rinex[0];
-  // observations.print();
+  // Trace close
+  // traceclose();
 
-  // RTKLIB trace
-  // char str_file[80];
-  // snprintf(str_file, sizeof str_file, "../src/examples/trace");
-  // tracelevel(5);
-  // traceopen(str_file);
+  /* Set processing options */
 
-  // load navigation from RINEX file
-  // navigation.loadFromRinex("../src/examples/sample_data.nav", t_start, t_end, dt, opt);
-  // navigation.print();
-
-  // // Trace close
-  // // traceclose();
-
-  // /* 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    = 0.525;  // 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]    = 0;  // 4789374.0336;
-  // prcopt.ru[1]    = 0;  // 177048.3292;
-  // prcopt.ru[2]    = 0;  // 4194542.6444;
-
-  // std::cout << "Processing options defined" << std::endl;
-
-  // Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641);
-
-  // // 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] = "";
-
-  // stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL,
-  // msg);
-
-  // std::cout << "msg: " << msg << std::endl;
-  // std::cout << "sol.stat: " << int(solb.stat) << std::endl;
-  // std::cout << "Position:      " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
-  // std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
-  // std::cout << "Position LLA:      " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1],
-  // solb.rr[2])).transpose()
-  //           << std::endl;
-  // std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
+  /* 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    = 0.525;  // 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]    = 0;  // 4789374.0336;
+  prcopt.ru[1]    = 0;  // 177048.3292;
+  prcopt.ru[2]    = 0;  // 4194542.6444;
+
+  std::cout << "Processing options defined" << std::endl;
+
+  Eigen::Vector3d lla_gt(41.383293114 * M_PI / 180.0, 2.116101115 * M_PI / 180.0, -91.6641);
+
+  // 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] = "";
+
+  stat = pntpos(observations.data(), observations.size(), &navigation.getNavigation(), &prcopt, &solb, NULL, NULL,
+  msg);
+
+  std::cout << "msg: " << msg << std::endl;
+  std::cout << "sol.stat: " << int(solb.stat) << std::endl;
+  std::cout << "Position:      " << solb.rr[0] << ", " << solb.rr[1] << ", " << solb.rr[2] << std::endl;
+  std::cout << "Position (GT): " << latLonAltToEcef(lla_gt).transpose() << std::endl;
+  std::cout << "Position LLA:      " << ecefToLatLonAlt(Eigen::Vector3d(solb.rr[0], solb.rr[1],
+  solb.rr[2])).transpose()
+            << std::endl;
+  std::cout << "Position LLA (GT): " << lla_gt.transpose() << std::endl;
 
   // traceclose();
 }