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RINEX printer now takes objects by reference instead of by value. Adding

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some const.
This commit is contained in:
Carles Fernandez
2014-09-14 19:08:32 +02:00
parent 60fea64b5e
commit 14ddc478a0
11 changed files with 98 additions and 100 deletions
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67
src/algorithms/PVT/libs/rinex_printer.cc
View File

@@ -219,7 +219,7 @@ Rinex_Printer::~Rinex_Printer()
void Rinex_Printer::lengthCheck(std::string line)
void Rinex_Printer::lengthCheck(const std::string& line)
{
if (line.length() != 80)
{
@@ -391,7 +391,7 @@ std::string Rinex_Printer::getLocalTime()
}
void Rinex_Printer::rinex_nav_header(std::ofstream& out, Galileo_Iono iono, Galileo_Utc_Model utc_model, Galileo_Almanac galileo_almanac)
void Rinex_Printer::rinex_nav_header(std::ofstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac)
{
std::string line;
stringVersion = "3.02";
@@ -501,7 +501,7 @@ void Rinex_Printer::rinex_nav_header(std::ofstream& out, Galileo_Iono iono, Gal
out << line << std::endl;
}
void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_Model utc_model)
void Rinex_Printer::rinex_nav_header(std::ofstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model)
{
std::string line;
@@ -680,7 +680,7 @@ void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_
out << line << std::endl;
}
void Rinex_Printer::rinex_nav_header(std::ofstream& out, Gps_Iono gps_iono, Gps_Utc_Model gps_utc_model, Galileo_Iono galileo_iono, Galileo_Utc_Model galileo_utc_model, Galileo_Almanac galileo_almanac)
void Rinex_Printer::rinex_nav_header(std::ofstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac)
{
std::string line;
stringVersion = "3.02";
@@ -922,12 +922,10 @@ void Rinex_Printer::rinex_sbs_header(std::ofstream& out)
}
void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris> eph_map)
void Rinex_Printer::log_rinex_nav(std::ofstream& out, const std::map<int,Gps_Ephemeris>& eph_map)
{
std::string line;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
for(gps_ephemeris_iter = eph_map.begin();
gps_ephemeris_iter != eph_map.end();
@@ -1182,7 +1180,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris
line += std::string(1, ' ');
double curve_fit_interval = 4;
if (gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIA"))
if (gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIA"))
{
// Block II/IIA (Table 20-XI IS-GPS-200E )
if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248) ) curve_fit_interval = 8;
@@ -1193,10 +1191,10 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris
if ( gps_ephemeris_iter->second.d_IODC == 757 ) curve_fit_interval = 98;
}
if ((gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIR") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIR-M") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIF") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock[gps_ephemeris_iter->second.i_satellite_PRN].compare("IIIA") == 0) )
if ((gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIR") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIR-M") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIF") == 0) ||
(gps_ephemeris_iter->second.satelliteBlock.at(gps_ephemeris_iter->second.i_satellite_PRN).compare("IIIA") == 0) )
{
// Block IIR/IIR-M/IIF/IIIA (Table 20-XII IS-GPS-200E )
if ( (gps_ephemeris_iter->second.d_IODC > 239) && (gps_ephemeris_iter->second.d_IODC < 248)) curve_fit_interval = 8;
@@ -1219,11 +1217,10 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris
}
void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Galileo_Ephemeris> eph_map)
void Rinex_Printer::log_rinex_nav(std::ofstream& out, const std::map<int, Galileo_Ephemeris>& eph_map)
{
std::string line;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
std::map<int,Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
line.clear();
for(galileo_ephemeris_iter = eph_map.begin();
galileo_ephemeris_iter != eph_map.end();
@@ -1399,7 +1396,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Galileo_Ephe
}
void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Gps_Ephemeris> gps_eph_map, std::map<int, Galileo_Ephemeris> galileo_eph_map)
void Rinex_Printer::log_rinex_nav(std::ofstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map)
{
version = 3;
stringVersion = "3.02";
@@ -1408,7 +1405,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, std::map<int, Gps_Ephemeri
}
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, double d_TOW_first_observation)
void Rinex_Printer::rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation)
{
std::string line;
@@ -1639,7 +1636,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
// -------- TIME OF FIRST OBS
line.clear();
boost::posix_time::ptime p_gps_time = Rinex_Printer::compute_GPS_time(eph,d_TOW_first_observation);
std::string timestring=boost::posix_time::to_iso_string(p_gps_time);
std::string timestring = boost::posix_time::to_iso_string(p_gps_time);
std::string year (timestring, 0, 4);
std::string month (timestring, 4, 2);
std::string day (timestring, 6, 2);
@@ -1671,7 +1668,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, doub
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph, double d_TOW_first_observation)
void Rinex_Printer::rinex_obs_header(std::ofstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation)
{
std::string line;
version = 3;
@@ -1873,7 +1870,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph,
}
void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double d_TOW_first_observation)
void Rinex_Printer::rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation)
{
std::string line;
version = 3;
@@ -2101,7 +2098,7 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph,
out << line << std::endl;
}
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges)
void Rinex_Printer::log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& eph, const double obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
{
// RINEX observations timestamps are GPS timestamps.
std::string line;
@@ -2154,7 +2151,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
line += std::string(1, '0');
//Number of satellites observed in current epoch
int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter;
std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
@@ -2239,7 +2236,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
//Number of satellites observed in current epoch
int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter;
std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
@@ -2296,7 +2293,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges)
void Rinex_Printer::log_rinex_obs(std::ofstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
{
// RINEX observations timestamps are Galileo timestamps.
// See http://gage14.upc.es/gLAB/HTML/Observation_Rinex_v3.01.html
@@ -2341,7 +2338,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, dou
//Number of satellites observed in current epoch
int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter;
std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
@@ -2391,7 +2388,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, dou
}
void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double gps_obs_time, std::map<int,Gnss_Synchro> pseudoranges)
void Rinex_Printer::log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int,Gnss_Synchro>& pseudoranges)
{
std::string line;
@@ -2433,7 +2430,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Gal
//Number of satellites observed in current epoch
int numSatellitesObserved = 0;
std::map<int,Gnss_Synchro>::iterator pseudoranges_iter;
std::map<int,Gnss_Synchro>::const_iterator pseudoranges_iter;
for(pseudoranges_iter = pseudoranges.begin();
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
@@ -2562,7 +2559,7 @@ void Rinex_Printer::to_date_time(int gps_week, int gps_tow, int &year, int &mont
void Rinex_Printer::log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message)
void Rinex_Printer::log_rinex_sbs(std::ofstream& out, const Sbas_Raw_Msg& sbs_message)
{
// line 1: PRN / EPOCH / RCVR
std::stringstream line1;
@@ -2645,7 +2642,7 @@ void Rinex_Printer::log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message)
}
int Rinex_Printer::signalStrength(double snr)
int Rinex_Printer::signalStrength(const double snr)
{
int ss;
ss = int ( std::min( std::max( int (floor(snr/6)) , 1), 9) );
@@ -2653,31 +2650,31 @@ int Rinex_Printer::signalStrength(double snr)
}
boost::posix_time::ptime Rinex_Printer::compute_UTC_time(Gps_Navigation_Message nav_msg)
boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Gps_Navigation_Message& nav_msg)
{
// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
double utc_t = nav_msg.utc_time(nav_msg.d_TOW);
const double utc_t = nav_msg.utc_time(nav_msg.d_TOW);
boost::posix_time::time_duration t = boost::posix_time::millisec((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}
boost::posix_time::ptime Rinex_Printer::compute_GPS_time(Gps_Ephemeris eph, double obs_time)
boost::posix_time::ptime Rinex_Printer::compute_GPS_time(const Gps_Ephemeris& eph, const double obs_time)
{
// The RINEX v2.11 v3.00 format uses GPS time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Section 3 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex211.txt)
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
// --??? No time correction here, since it will be done in the RINEX processor
double gps_t = obs_time;
const double gps_t = obs_time;
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
return p_time;
}
boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(Galileo_Ephemeris eph, double obs_time)
boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephemeris& eph, const double obs_time)
{
// The RINEX v2.11 v3.00 format uses Galileo time for the observations epoch, not UTC time, thus, no leap seconds needed here.
// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf)

38
src/algorithms/PVT/libs/rinex_printer.h
View File

@@ -93,32 +93,32 @@ public:
/*!
* \brief Generates the GPS Navigation Data header
*/
void rinex_nav_header(std::ofstream& out, Gps_Iono iono, Gps_Utc_Model utc_model);
void rinex_nav_header(std::ofstream& out, const Gps_Iono& iono, const Gps_Utc_Model& utc_model);
/*!
* \brief Generates the Galileo Navigation Data header
*/
void rinex_nav_header(std::ofstream& out, Galileo_Iono iono, Galileo_Utc_Model utc_model, Galileo_Almanac galileo_almanac);
void rinex_nav_header(std::ofstream& out, const Galileo_Iono& iono, const Galileo_Utc_Model& utc_model, const Galileo_Almanac& galileo_almanac);
/*!
* \brief Generates the Mixed (GPS/Galileo) Navigation Data header
*/
void rinex_nav_header(std::ofstream& out, Gps_Iono gps_iono, Gps_Utc_Model gps_utc_model, Galileo_Iono galileo_iono, Galileo_Utc_Model galileo_utc_model, Galileo_Almanac galileo_almanac);
void rinex_nav_header(std::ofstream& out, const Gps_Iono& gps_iono, const Gps_Utc_Model& gps_utc_model, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Galileo_Almanac& galileo_almanac);
/*!
* \brief Generates the GPS Observation data header
*/
void rinex_obs_header(std::ofstream& out, Gps_Ephemeris eph, double d_TOW_first_observation);
void rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& eph, const double d_TOW_first_observation);
/*!
* \brief Generates the Galileo Observation data header
*/
void rinex_obs_header(std::ofstream& out, Galileo_Ephemeris eph, double d_TOW_first_observation);
void rinex_obs_header(std::ofstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation);
/*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header
*/
void rinex_obs_header(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double d_TOW_first_observation);
void rinex_obs_header(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation);
/*!
* \brief Generates the SBAS raw data header
@@ -128,47 +128,47 @@ public:
/*!
* \brief Computes the UTC time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_UTC_time(Gps_Navigation_Message nav_msg);
boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message& nav_msg);
/*!
* \brief Computes the GPS time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_GPS_time(Gps_Ephemeris eph, double obs_time);
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, const double obs_time);
/*!
* \brief Computes the Galileo time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_Galileo_time(Galileo_Ephemeris eph, double obs_time);
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, const double obs_time);
/*!
* \brief Writes data from the GPS navigation message into the RINEX file
*/
void log_rinex_nav(std::ofstream& out, std::map<int,Gps_Ephemeris> eph_map);
void log_rinex_nav(std::ofstream& out, const std::map<int, Gps_Ephemeris>& eph_map);
/*!
* \brief Writes data from the Galileo navigation message into the RINEX file
*/
void log_rinex_nav(std::ofstream& out, std::map<int, Galileo_Ephemeris> eph_map);
void log_rinex_nav(std::ofstream& out, const std::map<int, Galileo_Ephemeris>& eph_map);
/*!
* \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/
void log_rinex_nav(std::ofstream& out, std::map<int, Gps_Ephemeris> gps_eph_map, std::map<int, Galileo_Ephemeris> galileo_eph_map);
void log_rinex_nav(std::ofstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map);
/*!
* \brief Writes GPS observables into the RINEX file
*/
void log_rinex_obs(std::ofstream& out, Gps_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges);
void log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& pseudoranges);
/*!
* \brief Writes Galileo observables into the RINEX file
*/
void log_rinex_obs(std::ofstream& out, Galileo_Ephemeris eph, double obs_time, std::map<int,Gnss_Synchro> pseudoranges);
void log_rinex_obs(std::ofstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& pseudoranges);
/*!
* \brief Writes Galileo observables into the RINEX file
*/
void log_rinex_obs(std::ofstream& out, Gps_Ephemeris gps_eph, Galileo_Ephemeris galileo_eph, double gps_obs_time, std::map<int,Gnss_Synchro> pseudoranges);
void log_rinex_obs(std::ofstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& pseudoranges);
/*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
@@ -178,12 +178,12 @@ public:
/*!
* \brief Writes raw SBAS messages into the RINEX file
*/
void log_rinex_sbs(std::ofstream& out, Sbas_Raw_Msg sbs_message);
void log_rinex_sbs(std::ofstream& out, const Sbas_Raw_Msg& sbs_message);
std::map<std::string,std::string> satelliteSystem; //<! GPS, GLONASS, SBAS payload, Galileo or Compass
std::map<std::string,std::string> observationType; //<! PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01)
std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
private:
int version ; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
@@ -191,7 +191,7 @@ private:
/*
* Generation of RINEX signal strength indicators
*/
int signalStrength(double snr);
int signalStrength(const double snr);
/* Creates RINEX file names according to the naming convention
*
@@ -225,7 +225,7 @@ private:
/*
* Checks that the line is 80 characters length
*/
void lengthCheck(std::string line);
void lengthCheck(const std::string& line);
/*
* If the string is bigger than length, truncate it from the right.