diff --git a/src/algorithms/libs/rtklib/rtklib_ephemeris.cc b/src/algorithms/libs/rtklib/rtklib_ephemeris.cc index 70d124074..23b982091 100644 --- a/src/algorithms/libs/rtklib/rtklib_ephemeris.cc +++ b/src/algorithms/libs/rtklib/rtklib_ephemeris.cc @@ -90,7 +90,7 @@ double var_uraeph(int ura) 2.4, 3.4, 4.85, 6.85, 9.65, 13.65, 24.0, 48.0, 96.0, 192.0, 384.0, 768.0, 1536.0, 3072.0, 6144.0 }; - return ura < 0 || 15 < ura ? std::pow(2.0, 6144.0) : std::pow(2.0, ura_value[ura]); + return ura < 0 || 15 < ura ? std::pow(6144.0, 2.0) : std::pow(ura_value[ura], 2.0); } @@ -98,10 +98,10 @@ double var_uraeph(int ura) double var_urassr(int ura) { double std_; - if (ura <= 0) return std::pow(2.0, DEFURASSR); - if (ura >= 63) return std::pow(2.0, 5.4665); - std_ = (std::pow(3.0, (ura >> 3) & 7) * (1.0 + (ura & 7) / 4.0) - 1.0) * 1e-3; - return std::pow(2.0, std_); + if (ura <= 0) return std::pow(DEFURASSR, 2.0); + if (ura >= 63) return std::pow(5.4665, 2.0); + std_ = (std::pow((ura >> 3) & 7, 2.0) * (1.0 + (ura & 7) / 4.0) - 1.0) * 1e-3; + return std::pow(std_, 2.0); } @@ -275,7 +275,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts, *dts = eph->f0 + eph->f1 * tk + eph->f2 * tk * tk; /* relativity correction */ - *dts -= 2.0 * sqrt(mu * eph->A) * eph-> e* sinE / std::pow(2.0, SPEED_OF_LIGHT); + *dts -= 2.0 * sqrt(mu * eph->A) * eph-> e* sinE / std::pow(SPEED_OF_LIGHT, 2.0); /* position and clock error variance */ *var = var_uraeph(eph->sva); @@ -285,7 +285,7 @@ void eph2pos(gtime_t time, const eph_t *eph, double *rs, double *dts, /* glonass orbit differential equations --------------------------------------*/ void deq(const double *x, double *xdot, const double *acc) { - double a, b, c, r2 = dot(x, x, 3), r3 = r2 * sqrt(r2), omg2 = std::pow(2.0, OMGE_GLO); + double a, b, c, r2 = dot(x, x, 3), r3 = r2 * sqrt(r2), omg2 = std::pow(OMGE_GLO, 2.0); if (r2 <= 0.0) { @@ -293,7 +293,7 @@ void deq(const double *x, double *xdot, const double *acc) return; } /* ref [2] A.3.1.2 with bug fix for xdot[4],xdot[5] */ - a = 1.5 * J2_GLO * MU_GLO * std::pow(2.0, RE_GLO) / r2 / r3; /* 3/2*J2*mu*Ae^2/r^5 */ + a = 1.5 * J2_GLO * MU_GLO * std::pow(RE_GLO, 2.0) / r2 / r3; /* 3/2*J2*mu*Ae^2/r^5 */ b = 5.0 * x[2] * x[2] / r2; /* 5*z^2/r^2 */ c = -MU_GLO / r3 - a * (1.0 - b); /* -mu/r^3-a(1-b) */ xdot[0] = x[3]; @@ -376,7 +376,7 @@ void geph2pos(gtime_t time, const geph_t *geph, double *rs, double *dts, } for (i = 0; i < 3; i++) rs[i] = x[i]; - *var = std::pow(2.0, ERREPH_GLO); + *var = std::pow(ERREPH_GLO, 2.0); } @@ -858,7 +858,7 @@ void satposs(gtime_t teph, const obsd_t *obs, int n, const nav_t *nav, { if (!ephclk(time[i], teph, obs[i].sat, nav, dts + i * 2)) continue; dts[1 + i * 2] = 0.0; - *var = std::pow(2.0, STD_BRDCCLK); + *var = std::pow(STD_BRDCCLK, 2.0); } } for (i = 0; i < n && i < MAXOBS; i++) diff --git a/src/algorithms/libs/rtklib/rtklib_ionex.cc b/src/algorithms/libs/rtklib/rtklib_ionex.cc index 602ea3491..62f46f8fe 100644 --- a/src/algorithms/libs/rtklib/rtklib_ionex.cc +++ b/src/algorithms/libs/rtklib/rtklib_ionex.cc @@ -296,15 +296,15 @@ int readionexb(FILE *fp, const double *lats, const double *lons, for (m = 0; m < n; m++) { - if (m%16 == 0 && !fgets(buff, sizeof(buff), fp)) break; + if (m % 16 == 0 && !fgets(buff, sizeof(buff), fp)) break; j = getindex(lon[0] + lon[2] * m, p->lons); if ((index = dataindex(i, j, k, p->ndata)) < 0) continue; - if ((x = str2num(buff, m%16*5, 5)) == 9999.0) continue; + if ((x = str2num(buff, m % 16 * 5, 5)) == 9999.0) continue; - if (type == 1) p->data[index] = x * pow(10.0, nexp); - else p->rms[index] = (float)(x * pow(10.0, nexp)); + if (type == 1) p->data[index] = x * std::pow(10.0, nexp); + else p->rms[index] = (float)(x * std::pow(10.0, nexp)); } } } diff --git a/src/algorithms/libs/rtklib/rtklib_pntpos.cc b/src/algorithms/libs/rtklib/rtklib_pntpos.cc index 9ca66e52e..a8d020b69 100644 --- a/src/algorithms/libs/rtklib/rtklib_pntpos.cc +++ b/src/algorithms/libs/rtklib/rtklib_pntpos.cc @@ -58,9 +58,9 @@ double varerr(const prcopt_t *opt, double el, int sys) { double fact, varr; fact = sys == SYS_GLO ? EFACT_GLO : (sys == SYS_SBS ? EFACT_SBS : EFACT_GPS); - varr = std::pow(2.0, opt->err[0]) * (std::pow(2.0, opt->err[1]) + std::pow(2.0, opt->err[2]) / sin(el)); - if (opt->ionoopt == IONOOPT_IFLC) varr *= std::pow(2.0, 3.0); /* iono-free */ - return std::pow(2.0, fact) * varr; + varr = std::pow(opt->err[0], 2.0) * (std::pow(opt->err[1], 2.0) + std::pow(opt->err[2], 2.0) / sin(el)); + if (opt->ionoopt == IONOOPT_IFLC) varr *= std::pow(2, 3.0); /* iono-free */ + return std::pow(fact, 2.0) * varr; } @@ -95,7 +95,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, /* L1-L2 for GPS/GLO/QZS, L1-L5 for GAL/SBS */ - if (NFREQ >= 3 && (sys & (SYS_GAL | SYS_SBS))) j = 2; + if (NFREQ>=3&&(sys&(SYS_GAL|SYS_SBS))) j = 2; if (NFREQ<2 || lam[i] == 0.0 || lam[j] == 0.0) { @@ -105,7 +105,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, } /* test snr mask */ - if (iter > 0) + if (iter>0) { if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask)) { @@ -122,7 +122,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, } } } - gamma = std::pow(2.0, lam[j]) / std::pow(2.0, lam[i]); /* f1^2/f2^2 */ + gamma = std::pow(lam[j], 2.0) / std::pow(lam[i], 2.0); /* f1^2/f2^2 */ P1 = obs->P[i]; P2 = obs->P[j]; P1_P2 = nav->cbias[obs->sat-1][0]; @@ -153,7 +153,7 @@ double prange(const obsd_t *obs, const nav_t *nav, const double *azel, } if (opt->sateph == EPHOPT_SBAS) PC -= P1_C1; /* sbas clock based C1 */ - *var = std::pow(2.0, ERR_CBIAS); + *var = std::pow(ERR_CBIAS, 2.0); return PC; } @@ -182,7 +182,7 @@ int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos, if (ionoopt == IONOOPT_BRDC) { *ion = ionmodel(time, nav->ion_gps, pos, azel); - *var = std::pow(2.0, *ion*ERR_BRDCI); + *var = SQR(*ion*ERR_BRDCI); return 1; } /* sbas ionosphere model */ @@ -196,10 +196,10 @@ int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos, return iontec(time, nav, pos, azel, 1, ion, var); } /* qzss broadcast model */ - if (ionoopt == IONOOPT_QZS && norm(nav->ion_qzs, 8) > 0.0) + if (ionoopt == IONOOPT_QZS && norm(nav->ion_qzs, 8)>0.0) { *ion = ionmodel(time, nav->ion_qzs, pos, azel); - *var = std::pow(2.0, *ion * ERR_BRDCI); + *var = std::pow(*ion * ERR_BRDCI, 2.0); return 1; } /* lex ionosphere model */ @@ -207,7 +207,7 @@ int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos, // return lexioncorr(time, nav, pos, azel, ion, var); //} *ion = 0.0; - *var = ionoopt == IONOOPT_OFF ? std::pow(2.0, ERR_ION) : 0.0; + *var = ionoopt == IONOOPT_OFF ? std::pow(ERR_ION, 2.0) : 0.0; return 1; } @@ -234,7 +234,7 @@ int tropcorr(gtime_t time, const nav_t *nav, const double *pos, if (tropopt == TROPOPT_SAAS || tropopt == TROPOPT_EST || tropopt == TROPOPT_ESTG) { *trp = tropmodel(time, pos, azel, REL_HUMI); - *var = std::pow(2.0, ERR_SAAS / (sin(azel[1]) + 0.1)); + *var = SQR(ERR_SAAS / (sin(azel[1]) + 0.1)); return 1; } /* sbas troposphere model */ @@ -245,7 +245,7 @@ int tropcorr(gtime_t time, const nav_t *nav, const double *pos, } /* no correction */ *trp = 0.0; - *var = tropopt == TROPOPT_OFF ? std::pow(2.0, ERR_TROP) : 0.0; + *var = tropopt == TROPOPT_OFF ? std::pow(ERR_TROP, 2.0) : 0.0; return 1; } @@ -314,7 +314,7 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs, /* GPS-L1 -> L1/B1 */ if ((lam_L1 = nav->lam[obs[i].sat - 1][0]) > 0.0) { - dion *= pow(2.0, lam_L1 / lam_carr[0]); + dion *= std::pow(lam_L1 / lam_carr[0], 2.0); } /* tropospheric corrections */ if (!tropcorr(obs[i].time, nav, pos, azel + i*2, @@ -517,7 +517,7 @@ int raim_fde(const obsd_t *obs, int n, const double *rs, for (j = nvsat = 0, rms_e = 0.0; j < n - 1; j++) { if (!vsat_e[j]) continue; - rms_e += std::pow(2.0, resp_e[j]); + rms_e += std::pow(resp_e[j], 2.0); nvsat++; } if (nvsat < 5) diff --git a/src/algorithms/libs/rtklib/rtklib_preceph.cc b/src/algorithms/libs/rtklib/rtklib_preceph.cc index 026e3d9a3..b553c79da 100644 --- a/src/algorithms/libs/rtklib/rtklib_preceph.cc +++ b/src/algorithms/libs/rtklib/rtklib_preceph.cc @@ -218,7 +218,7 @@ void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact, } if ((base = bfact[j < 3 ? 0 : 1]) > 0.0 && std > 0.0) { - peph.std[sat-1][j] = (float)(pow(base, std)*(j < 3 ? 1e-3 : 1e-12)); + peph.std[sat-1][j] = (float)(std::pow(base, std)*(j < 3 ? 1e-3 : 1e-12)); } } else if (v) { /* velocity */ @@ -228,7 +228,7 @@ void readsp3b(FILE *fp, char type, int *sats, int ns, double *bfact, } if ((base = bfact[j < 3 ? 0 : 1]) > 0.0 && std > 0.0) { - peph.vst[sat-1][j] = (float)(pow(base, std)*(j < 3 ? 1e-7 : 1e-16)); + peph.vst[sat-1][j] = (float)(std::pow(base, std)*(j < 3 ? 1e-7 : 1e-16)); } } } @@ -662,9 +662,9 @@ int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs, std = norm(s, 3); /* extrapolation error for orbit */ - if (t[0 ] > 0.0) std += EXTERR_EPH * pow(2, t[0 ]) / 2.0; - else if (t[NMAX] < 0.0) std += EXTERR_EPH * pow(2, t[NMAX]) / 2.0; - *vare = pow(2, std); + if (t[0 ] > 0.0) std += EXTERR_EPH * std::pow(t[0 ], 2.0) / 2.0; + else if (t[NMAX] < 0.0) std += EXTERR_EPH * std::pow(t[NMAX], 2.0) / 2.0; + *vare = std::pow(std, 2.0); } /* linear interpolation for clock */ t[0] = timediff(time, nav->peph[index ].time); @@ -696,7 +696,7 @@ int pephpos(gtime_t time, int sat, const nav_t *nav, double *rs, { dts[0] = 0.0; } - if (varc) *varc = std::pow(2, std); + if (varc) *varc = std::pow(std, 2.0); return 1; } @@ -752,7 +752,7 @@ int pephclk(gtime_t time, int sat, const nav_t *nav, double *dts, trace(3, "prec clock outage %s sat=%2d\n", time_str(time, 0), sat); return 0; } - if (varc) *varc = std::pow(2, std); + if (varc) *varc = std::pow(std, 2.0); return 1; } @@ -795,7 +795,7 @@ void satantoff(gtime_t time, const double *rs, int sat, const nav_t *nav, if (NFREQ < 2 || lam[j] == 0.0 || lam[k] == 0.0) return; - gamma = std::pow(2, lam[k]) / std::pow(2, lam[j]); + gamma = std::pow(lam[k], 2.0) / std::pow(lam[j], 2.0); C1 = gamma / (gamma - 1.0); C2 = -1.0 / (gamma - 1.0);