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Enhance const correctness, minor cosmetics

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This commit is contained in:
Carles Fernandez 2018-08-21 15:20:48 +02:00
parent ff90cf1a7e
commit 0c26a95af4
3 changed files with 9 additions and 10 deletions
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9
src/algorithms/tracking/gnuradio_blocks/gps_l1_ca_kf_tracking_cc.cc
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@ -84,7 +84,7 @@ void Gps_L1_Ca_Kf_Tracking_cc::forecast(int noutput_items,
{ {
if (noutput_items != 0) if (noutput_items != 0)
{ {
ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; //set the required available samples in each call ninput_items_required[0] = static_cast<int>(d_vector_length) * 2; // set the required available samples in each call
} }
} }
@ -122,7 +122,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
// Initialize tracking ========================================== // Initialize tracking ==========================================
d_code_loop_filter.set_DLL_BW(dll_bw_hz); d_code_loop_filter.set_DLL_BW(dll_bw_hz);
//--- DLL variables -------------------------------------------------------- // --- DLL variables --------------------------------------------------------
d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips) d_early_late_spc_chips = early_late_space_chips; // Define early-late offset (in chips)
// Initialization of local code replica // Initialization of local code replica
@ -144,7 +144,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps); multicorrelator_cpu.init(2 * d_current_prn_length_samples, d_n_correlator_taps);
//--- Perform initializations ------------------------------ // --- Perform initializations ------------------------------
// define initial code frequency basis of NCO // define initial code frequency basis of NCO
d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ; d_code_freq_chips = GPS_L1_CA_CODE_RATE_HZ;
// define residual code phase (in chips) // define residual code phase (in chips)
@ -156,7 +156,6 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
// sample synchronization // sample synchronization
d_sample_counter = 0; d_sample_counter = 0;
//d_sample_counter_seconds = 0;
d_acq_sample_stamp = 0; d_acq_sample_stamp = 0;
d_enable_tracking = false; d_enable_tracking = false;
@ -197,7 +196,7 @@ Gps_L1_Ca_Kf_Tracking_cc::Gps_L1_Ca_Kf_Tracking_cc(
double sigma2_phase_detector_cycles2; double sigma2_phase_detector_cycles2;
sigma2_phase_detector_cycles2 = (1.0 / (2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD)) * (1.0 + 1.0 / (2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD)); sigma2_phase_detector_cycles2 = (1.0 / (2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD)) * (1.0 + 1.0 / (2.0 * CN_lin * GPS_L1_CA_CODE_PERIOD));
//covariances (static) // covariances (static)
double sigma2_carrier_phase = GPS_TWO_PI / 4; double sigma2_carrier_phase = GPS_TWO_PI / 4;
double sigma2_doppler = 450; double sigma2_doppler = 450;
double sigma2_doppler_rate = pow(4.0 * GPS_TWO_PI, 2) / 12.0; double sigma2_doppler_rate = pow(4.0 * GPS_TWO_PI, 2) / 12.0;

6
src/algorithms/tracking/libs/bayesian_estimation.cc
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@ -38,7 +38,7 @@
*/ */
#include "bayesian_estimation.h" #include "bayesian_estimation.h"
#include <armadillo>
Bayesian_estimator::Bayesian_estimator() Bayesian_estimator::Bayesian_estimator()
{ {
@ -176,12 +176,12 @@ void Bayesian_estimator::update_sequential(const arma::vec& data, const arma::ve
Psi_prior = Psi_posterior; Psi_prior = Psi_posterior;
} }
arma::mat Bayesian_estimator::get_mu_est() arma::mat Bayesian_estimator::get_mu_est() const
{ {
return mu_est; return mu_est;
} }
arma::mat Bayesian_estimator::get_Psi_est() arma::mat Bayesian_estimator::get_Psi_est() const
{ {
return Psi_est; return Psi_est;
} }

4
src/algorithms/tracking/libs/bayesian_estimation.h
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@ -69,8 +69,8 @@ public:
void update_sequential(const arma::vec& data); void update_sequential(const arma::vec& data);
void update_sequential(const arma::vec& data, const arma::vec& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0); void update_sequential(const arma::vec& data, const arma::vec& mu_prior_0, int kappa_prior_0, int nu_prior_0, const arma::mat& Psi_prior_0);
arma::mat get_mu_est(); arma::mat get_mu_est() const;
arma::mat get_Psi_est(); arma::mat get_Psi_est() const;
private: private:
arma::vec mu_est; arma::vec mu_est;