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Fix pow usage

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This commit is contained in:
Carles Fernandez
2017-04-22 12:50:04 +02:00
parent 417dc1daf1
commit 03d5015390
4 changed files with 37 additions and 37 deletions
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20
src/algorithms/libs/rtklib/rtklib_ephemeris.cc
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@@ -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, 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 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 var_urassr(int ura)
{ {
double std_; double std_;
if (ura <= 0) return std::pow(2.0, DEFURASSR); if (ura <= 0) return std::pow(DEFURASSR, 2.0);
if (ura >= 63) return std::pow(2.0, 5.4665); if (ura >= 63) return std::pow(5.4665, 2.0);
std_ = (std::pow(3.0, (ura >> 3) & 7) * (1.0 + (ura & 7) / 4.0) - 1.0) * 1e-3; std_ = (std::pow((ura >> 3) & 7, 2.0) * (1.0 + (ura & 7) / 4.0) - 1.0) * 1e-3;
return std::pow(2.0, std_); 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; *dts = eph->f0 + eph->f1 * tk + eph->f2 * tk * tk;
/* relativity correction */ /* 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 */ /* position and clock error variance */
*var = var_uraeph(eph->sva); *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 --------------------------------------*/ /* glonass orbit differential equations --------------------------------------*/
void deq(const double *x, double *xdot, const double *acc) 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) if (r2 <= 0.0)
{ {
@@ -293,7 +293,7 @@ void deq(const double *x, double *xdot, const double *acc)
return; return;
} }
/* ref [2] A.3.1.2 with bug fix for xdot[4],xdot[5] */ /* 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 */ 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) */ c = -MU_GLO / r3 - a * (1.0 - b); /* -mu/r^3-a(1-b) */
xdot[0] = x[3]; 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]; 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; if (!ephclk(time[i], teph, obs[i].sat, nav, dts + i * 2)) continue;
dts[1 + i * 2] = 0.0; 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++) for (i = 0; i < n && i < MAXOBS; i++)

8
src/algorithms/libs/rtklib/rtklib_ionex.cc
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@@ -296,15 +296,15 @@ int readionexb(FILE *fp, const double *lats, const double *lons,
for (m = 0; m < n; m++) 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); j = getindex(lon[0] + lon[2] * m, p->lons);
if ((index = dataindex(i, j, k, p->ndata)) < 0) continue; 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); if (type == 1) p->data[index] = x * std::pow(10.0, nexp);
else p->rms[index] = (float)(x * pow(10.0, nexp)); else p->rms[index] = (float)(x * std::pow(10.0, nexp));
} }
} }
} }

30
src/algorithms/libs/rtklib/rtklib_pntpos.cc
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@@ -58,9 +58,9 @@ double varerr(const prcopt_t *opt, double el, int sys)
{ {
double fact, varr; double fact, varr;
fact = sys == SYS_GLO ? EFACT_GLO : (sys == SYS_SBS ? EFACT_SBS : EFACT_GPS); 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)); 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(2.0, 3.0); /* iono-free */ if (opt->ionoopt == IONOOPT_IFLC) varr *= std::pow(2, 3.0); /* iono-free */
return std::pow(2.0, fact) * varr; 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 */ /* 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) 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 */ /* test snr mask */
if (iter > 0) if (iter>0)
{ {
if (testsnr(0, i, azel[1], obs->SNR[i] * 0.25, &opt->snrmask)) 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]; P1 = obs->P[i];
P2 = obs->P[j]; P2 = obs->P[j];
P1_P2 = nav->cbias[obs->sat-1][0]; 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 */ 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; return PC;
} }
@@ -182,7 +182,7 @@ int ionocorr(gtime_t time, const nav_t *nav, int sat, const double *pos,
if (ionoopt == IONOOPT_BRDC) if (ionoopt == IONOOPT_BRDC)
{ {
*ion = ionmodel(time, nav->ion_gps, pos, azel); *ion = ionmodel(time, nav->ion_gps, pos, azel);
*var = std::pow(2.0, *ion*ERR_BRDCI); *var = SQR(*ion*ERR_BRDCI);
return 1; return 1;
} }
/* sbas ionosphere model */ /* 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); return iontec(time, nav, pos, azel, 1, ion, var);
} }
/* qzss broadcast model */ /* 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); *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; return 1;
} }
/* lex ionosphere model */ /* 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); // return lexioncorr(time, nav, pos, azel, ion, var);
//} //}
*ion = 0.0; *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; 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) if (tropopt == TROPOPT_SAAS || tropopt == TROPOPT_EST || tropopt == TROPOPT_ESTG)
{ {
*trp = tropmodel(time, pos, azel, REL_HUMI); *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; return 1;
} }
/* sbas troposphere model */ /* sbas troposphere model */
@@ -245,7 +245,7 @@ int tropcorr(gtime_t time, const nav_t *nav, const double *pos,
} }
/* no correction */ /* no correction */
*trp = 0.0; *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; return 1;
} }
@@ -314,7 +314,7 @@ int rescode(int iter, const obsd_t *obs, int n, const double *rs,
/* GPS-L1 -> L1/B1 */ /* GPS-L1 -> L1/B1 */
if ((lam_L1 = nav->lam[obs[i].sat - 1][0]) > 0.0) 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 */ /* tropospheric corrections */
if (!tropcorr(obs[i].time, nav, pos, azel + i*2, 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++) for (j = nvsat = 0, rms_e = 0.0; j < n - 1; j++)
{ {
if (!vsat_e[j]) continue; if (!vsat_e[j]) continue;
rms_e += std::pow(2.0, resp_e[j]); rms_e += std::pow(resp_e[j], 2.0);
nvsat++; nvsat++;
} }
if (nvsat < 5) if (nvsat < 5)

16
src/algorithms/libs/rtklib/rtklib_preceph.cc
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@@ -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) 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 */ 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) 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); std = norm(s, 3);
/* extrapolation error for orbit */ /* extrapolation error for orbit */
if (t[0 ] > 0.0) std += EXTERR_EPH * pow(2, t[0 ]) / 2.0; 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 * pow(2, t[NMAX]) / 2.0; else if (t[NMAX] < 0.0) std += EXTERR_EPH * std::pow(t[NMAX], 2.0) / 2.0;
*vare = pow(2, std); *vare = std::pow(std, 2.0);
} }
/* linear interpolation for clock */ /* linear interpolation for clock */
t[0] = timediff(time, nav->peph[index ].time); 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; dts[0] = 0.0;
} }
if (varc) *varc = std::pow(2, std); if (varc) *varc = std::pow(std, 2.0);
return 1; 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); trace(3, "prec clock outage %s sat=%2d\n", time_str(time, 0), sat);
return 0; return 0;
} }
if (varc) *varc = std::pow(2, std); if (varc) *varc = std::pow(std, 2.0);
return 1; 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; 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); C1 = gamma / (gamma - 1.0);
C2 = -1.0 / (gamma - 1.0); C2 = -1.0 / (gamma - 1.0);