diff --git a/include/subscriber_gnss.h b/include/subscriber_gnss.h
index 5acba7671aa7b63d3acb1429d31884440cfeb24e..f51518f63bf4169f5062c550cfbca60eaaf40be5 100644
--- a/include/subscriber_gnss.h
+++ b/include/subscriber_gnss.h
@@ -14,7 +14,7 @@
#include <ros/ros.h>
#include <iri_gnss_msgs/Observation.h>
#include <iri_gnss_msgs/Navigation.h>
-#include <iri_gnss_msgs/iri_gnss_msgs_to_gnssutils.h>
+#include <iri_gnss_msgs/iri_gnss_msgs_to_gnss_utils.h>
/**************************
* STD includes *
@@ -28,7 +28,8 @@
**************************/
#include "subscriber.h"
#include "subscriber_factory.h"
-#include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/navigation.h"
+#include "gnss_utils/observations.h"
using namespace wolf;
@@ -37,10 +38,10 @@ class SubscriberGnss : public Subscriber
protected:
ros::Subscriber sub_nav_;
- std::shared_ptr<GNSSUtils::Navigation> last_nav_ptr_;
- //GNSSUtils::Navigation last_nav_;
- //GNSSUtils::Observations obs_;
- //GNSSUtils::ComputePosOutput get_pos_res_;
+ std::shared_ptr<GnssUtils::Navigation> last_nav_ptr_;
+ //GnssUtils::Navigation last_nav_;
+ //GnssUtils::Observations obs_;
+ //GnssUtils::ComputePosOutput get_pos_res_;
//prcopt_t prcopt_;
//bool new_obs_;
diff --git a/include/subscriber_gnss_tdcp.h b/include/subscriber_gnss_tdcp.h
index 91bf5c487f55477f5f8ba25288fc73b4ad8d2e6b..d5214c607670233c4ba1a2ab9611a37aadb01d4d 100644
--- a/include/subscriber_gnss_tdcp.h
+++ b/include/subscriber_gnss_tdcp.h
@@ -14,7 +14,7 @@
#include <ros/ros.h>
#include <iri_gnss_msgs/Observation.h>
#include <iri_gnss_msgs/Navigation.h>
-#include <iri_gnss_msgs/iri_gnss_msgs_to_gnssutils.h>
+#include <iri_gnss_msgs/iri_gnss_msgs_to_gnss_utils.h>
/**************************
* STD includes *
@@ -37,7 +37,7 @@ class SubscriberGnssTdcp : public Subscriber
protected:
ros::Subscriber sub_nav_;
- std::shared_ptr<GNSSUtils::Navigation> last_nav_ptr_;
+ std::shared_ptr<GnssUtils::Navigation> last_nav_ptr_;
//prcopt_t prcopt_;
//bool new_obs_;
diff --git a/include/subscriber_gnss_ublox.h b/include/subscriber_gnss_ublox.h
index c148ee0e169befc448592989b5111f5b22e2a699..decf5ce6c6c4261937072d8eb4cd9d5821e4d4de 100644
--- a/include/subscriber_gnss_ublox.h
+++ b/include/subscriber_gnss_ublox.h
@@ -19,7 +19,8 @@
**************************/
#include "subscriber.h"
#include "subscriber_factory.h"
-#include "gnss_utils/gnss_utils.h"
+#include "gnss_utils/navigation.h"
+#include "gnss_utils/observations.h"
#include "gnss_utils/ublox_raw.h"
using namespace wolf;
@@ -38,6 +39,6 @@ class SubscriberGnssUblox : public Subscriber
protected:
- GNSSUtils::UBloxRaw ublox_raw_;
+ GnssUtils::UBloxRaw ublox_raw_;
};
WOLF_REGISTER_SUBSCRIBER(SubscriberGnssUblox)
diff --git a/src/subscriber_gnss.cpp b/src/subscriber_gnss.cpp
index f80d76c016772b5da709269ecb60e49690e1b825..f6a81d35593c4aed77242a9dddb472e9a5089bf5 100644
--- a/src/subscriber_gnss.cpp
+++ b/src/subscriber_gnss.cpp
@@ -35,8 +35,8 @@ void SubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::Const
if (last_nav_ptr_==nullptr)
return;
- GNSSUtils::ObservationsPtr obs_ptr = std::make_shared<GNSSUtils::Observations>();
- GNSSUtils::fillObservation(*obs_ptr, msg);
+ GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>();
+ GnssUtils::fillObservation(*obs_ptr, msg);
CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
sensor_ptr_,
obs_ptr,
@@ -49,14 +49,14 @@ void SubscriberGnss::callbackNavigation(const iri_gnss_msgs::Navigation::ConstPt
ROS_INFO("callbackNav!");
std::cout << "Ephemeris size: " << msg->eph.size() << "\n";
- last_nav_ptr_ = std::make_shared<GNSSUtils::Navigation>();
- GNSSUtils::fillNavigation(*last_nav_ptr_, msg);
+ last_nav_ptr_ = std::make_shared<GnssUtils::Navigation>();
+ GnssUtils::fillNavigation(*last_nav_ptr_, msg);
last_nav_ptr_->print();
// if (this->new_obs_)
// {
// std::cout << "Before computed!!! \n";
-// this->get_pos_res_ = GNSSUtils::computePos(this->obs_, *last_nav_ptr_, this->prcopt_);
+// this->get_pos_res_ = GnssUtils::computePos(this->obs_, *last_nav_ptr_, this->prcopt_);
// std::cout << "Computed!!! \n";
// }
}
diff --git a/src/subscriber_gnss_tdcp.cpp b/src/subscriber_gnss_tdcp.cpp
index 375d3c5bfc4815949e0b5591d03b4053ef9961fc..ef09f47c9505bf3b227241cbd20d208c3aa55beb 100644
--- a/src/subscriber_gnss_tdcp.cpp
+++ b/src/subscriber_gnss_tdcp.cpp
@@ -23,8 +23,8 @@ void SubscriberGnssTdcp::callbackObservation(const iri_gnss_msgs::Observation::C
// TODO copied from Tdcp_ros
-// GNSSUtils::ObservationsPtr obs_ptr = std::make_shared<GNSSUtils::Observations>();
-// GNSSUtils::fillObservation(*obs_ptr, msg);
+// GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>();
+// GnssUtils::fillObservation(*obs_ptr, msg);
// CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
// sensor_ptr_,
// obs_ptr,
@@ -37,8 +37,8 @@ void SubscriberGnssTdcp::callbackNavigation(const iri_gnss_msgs::Navigation::Con
{
ROS_INFO("callbackNav!");
- last_nav_ptr_ = std::make_shared<GNSSUtils::Navigation>();
- GNSSUtils::fillNavigation(*last_nav_ptr_, msg);
+ last_nav_ptr_ = std::make_shared<GnssUtils::Navigation>();
+ GnssUtils::fillNavigation(*last_nav_ptr_, msg);
last_nav_ptr_->print();
// TODO copied from Tdcp_ros
diff --git a/src/subscriber_gnss_ublox.cpp b/src/subscriber_gnss_ublox.cpp
index f24b5ef4d9cee0e071bef8471ad89aa211c401ae..3e59af98542c1f9c649ba6d7b8093214f9e652f1 100644
--- a/src/subscriber_gnss_ublox.cpp
+++ b/src/subscriber_gnss_ublox.cpp
@@ -17,17 +17,17 @@ void SubscriberGnssUblox::initSubscriber(ros::NodeHandle& nh, const std::string&
void SubscriberGnssUblox::callback(const std_msgs::UInt8MultiArray& msg)
{
- GNSSUtils::RawDataType res = ublox_raw_.addDataStream(msg.data);
+ GnssUtils::RawDataType res = ublox_raw_.addDataStream(msg.data);
//std::cout << "res = " << (int) res << std::endl;
// only create capture if observation is received
- if (res == GNSSUtils::OBS)
+ if (res == GnssUtils::OBS)
{
//ROS_INFO("Observation received!");
- GNSSUtils::ObservationsPtr obs_ptr = std::make_shared<GNSSUtils::Observations>(ublox_raw_.getObservations());
+ GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>(ublox_raw_.getObservations());
//ROS_INFO("Observations copied!");
- GNSSUtils::NavigationPtr nav_ptr = std::make_shared<GNSSUtils::Navigation>(ublox_raw_.getNavigation());
+ GnssUtils::NavigationPtr nav_ptr = std::make_shared<GnssUtils::Navigation>(ublox_raw_.getNavigation());
//ROS_INFO("Navigation copied!");
ros::Time now = ros::Time::now();