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Add more control when accessing Pvt_Solution members

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This commit is contained in:
Carles Fernandez 2017-08-16 17:42:55 +02:00
parent 6a2fe514d0
commit 2ca252c4d4
2 changed files with 134 additions and 25 deletions
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119
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -652,64 +652,173 @@ void Pvt_Solution::set_num_valid_observations(int num)
}
void Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
bool Pvt_Solution::set_visible_satellites_ID(size_t index, unsigned int prn)
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat ID to channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
if(prn >= PVT_MAX_PRN)
{
LOG(WARNING) << "Setting to channel " << index << " a PRN of " << prn << " (the maximum is " << PVT_MAX_PRN << ")";
return false;
}
else
{
d_visible_satellites_IDs[index] = prn;
return true;
}
}
}
unsigned int Pvt_Solution::get_visible_satellites_ID(size_t index) const
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat ID for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0;
}
else
{
return d_visible_satellites_IDs[index];
}
}
void Pvt_Solution::set_visible_satellites_El(size_t index, double el)
bool Pvt_Solution::set_visible_satellites_El(size_t index, double el)
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
if(el > 90.0)
{
LOG(WARNING) << "Setting a sat elevation > 90 [degrees]. Saturating to 90";
d_visible_satellites_El[index] = 90.0;
}
else
{
if(el < -90.0)
{
LOG(WARNING) << "Setting a sat elevation < -90 [degrees]. Saturating to -90";
d_visible_satellites_El[index] = -90.0;
}
else
{
d_visible_satellites_El[index] = el;
}
}
return true;
}
}
double Pvt_Solution::get_visible_satellites_El(size_t index) const
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat elevation for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_El[index];
}
}
void Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
bool Pvt_Solution::set_visible_satellites_Az(size_t index, double az)
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
d_visible_satellites_Az[index] = az;
return true;
}
}
double Pvt_Solution::get_visible_satellites_Az(size_t index) const
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat azimuth for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_Az[index];
}
}
void Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
bool Pvt_Solution::set_visible_satellites_Distance(size_t index, double dist)
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
d_visible_satellites_Distance[index] = dist;
return true;
}
}
double Pvt_Solution::get_visible_satellites_Distance(size_t index) const
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting sat distance for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_Distance[index];
}
}
void Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
bool Pvt_Solution::set_visible_satellites_CN0_dB(size_t index, double cn0)
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Setting sat Cn0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return false;
}
else
{
d_visible_satellites_CN0_dB[index] = cn0;
return true;
}
}
double Pvt_Solution::get_visible_satellites_CN0_dB(size_t index) const
{
if(index >= PVT_MAX_CHANNELS)
{
LOG(WARNING) << "Getting received CN0 for channel " << index << " (the maximum is " << PVT_MAX_CHANNELS << ")";
return 0.0;
}
else
{
return d_visible_satellites_CN0_dB[index];
}
}
void Pvt_Solution::set_Q(arma::mat Q)

20
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -37,7 +37,8 @@
#include <armadillo>
#include <boost/date_time/posix_time/posix_time.hpp>
#define PVT_MAX_CHANNELS 24
const unsigned int PVT_MAX_CHANNELS = 24;
const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS
/*!
* \brief Base class for a PVT solution
@ -69,8 +70,6 @@ private:
boost::posix_time::ptime d_position_UTC_time;
int d_valid_observations;
int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
arma::mat d_Q;
double d_GDOP;
double d_PDOP;
@ -78,6 +77,7 @@ private:
double d_VDOP;
double d_TDOP;
int d_visible_satellites_IDs[PVT_MAX_CHANNELS] = {}; // Array with the IDs of the valid satellites
double d_visible_satellites_El[PVT_MAX_CHANNELS] = {}; // Array with the LOS Elevation of the valid satellites
double d_visible_satellites_Az[PVT_MAX_CHANNELS] = {}; // Array with the LOS Azimuth of the valid satellites
double d_visible_satellites_Distance[PVT_MAX_CHANNELS] = {}; // Array with the LOS Distance of the valid satellites
@ -109,19 +109,19 @@ public:
int get_num_valid_observations() const; //!< Get the number of valid pseudorange observations (valid satellites)
void set_num_valid_observations(int num); //!< Set the number of valid pseudorange observations (valid satellites)
void set_visible_satellites_ID(size_t index, unsigned int prn); //!< Set the ID of the visible satellite index channel
bool set_visible_satellites_ID(size_t index, unsigned int prn); //!< Set the ID of the visible satellite index channel
unsigned int get_visible_satellites_ID(size_t index) const; //!< Get the ID of the visible satellite index channel
void set_visible_satellites_El(size_t index, double el); //!< Set the LOS Elevation of the visible satellite index channel
double get_visible_satellites_El(size_t index) const; //!< Get the LOS Elevation of the visible satellite index channel
bool set_visible_satellites_El(size_t index, double el); //!< Set the LOS Elevation, in degrees, of the visible satellite index channel
double get_visible_satellites_El(size_t index) const; //!< Get the LOS Elevation, in degrees, of the visible satellite index channel
void set_visible_satellites_Az(size_t index, double az); //!< Set the LOS Azimuth of the visible satellite index channel
double get_visible_satellites_Az(size_t index) const; //!< Get the LOS Azimuth of the visible satellite index channel
bool set_visible_satellites_Az(size_t index, double az); //!< Set the LOS Azimuth, in degrees, of the visible satellite index channel
double get_visible_satellites_Az(size_t index) const; //!< Get the LOS Azimuth, in degrees, of the visible satellite index channel
void set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel
bool set_visible_satellites_Distance(size_t index, double dist); //!< Set the LOS Distance of the visible satellite index channel
double get_visible_satellites_Distance(size_t index) const; //!< Get the LOS Distance of the visible satellite index channel
void set_visible_satellites_CN0_dB(size_t index, double cn0); //!< Set the CN0 in dB of the visible satellite index channel
bool set_visible_satellites_CN0_dB(size_t index, double cn0); //!< Set the CN0 in dB of the visible satellite index channel
double get_visible_satellites_CN0_dB(size_t index) const; //!< Get the CN0 in dB of the visible satellite index channel
//averaging