Resolve "TDCP batch implementation"

Closes #15 (closed)

test/gtest_tdcp.cpp

@@ -47,7 +47,8 @@ void computeRandomVisibleSatellite(const Vector3d& receiver_latlonalt,
 
 TEST(Tdcp, Tdcp)
 {
-    TdcpBatchParams    tdcp_params;
+    TdcpBatchParams tdcp_params;
+    // TODO: fill params
 
     Vector3d sat_ENU, sat_ECEF;
     Vector3d x_r_LLA, x_r_ECEF, x_k_LLA, x_k_ECEF, d_ECEF;
@@ -105,6 +106,8 @@ TEST(Tdcp, Tdcp)
             // TODO: compute range and add random clock bias
         }
 
+        // TODO: randomly distort 1 satellite -> to be detected by RAIM
+
         bool tdcp_ok = Tdcp(snapshot_r,
                             snapshot_k,
                             x_r_ECEF,
@@ -116,6 +119,8 @@ TEST(Tdcp, Tdcp)
                             tdcp_params);
 
         EXPECT_TRUE(tdcp_ok);
+        EXPECT_MATRIX_APPROX(d, d_gt, 1e-9);
+        EXPECT_LEQ(residual, 1e-9);
     }
 }