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Fix deprecation of operator << for matrices in Armadillo 10.1

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This commit is contained in:
Carles Fernandez 2020-10-24 13:22:22 +02:00
parent 97a51c511d
commit 30fbe8eb1a
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 14 additions and 29 deletions
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43
src/algorithms/libs/geofunctions.cc
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@ -27,15 +27,9 @@ const double STRP_PI = 3.1415926535898; // Pi as defined in IS-GPS-200K
arma::mat Skew_symmetric(const arma::vec &a) arma::mat Skew_symmetric(const arma::vec &a)
{ {
arma::mat A = arma::zeros(3, 3); arma::mat A = {{0.0, -a(2), a(1)},
{a(2), 0.0, -a(0)},
A << 0.0 << -a(2) << a(1) << arma::endr {-a(1), a(0), 0.0}};
<< a(2) << 0.0 << -a(0) << arma::endr
<< -a(1) << a(0) << 0 << arma::endr;
// {{0, -a(2), a(1)},
// {a(2), 0, -a(0)},
// {-a(1), a(0), 0}};
return A; return A;
} }
@ -383,14 +377,11 @@ void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::m
double sin_lat = sin(LLH(0)); double sin_lat = sin(LLH(0));
double cos_long = cos(LLH(1)); double cos_long = cos(LLH(1));
double sin_long = sin(LLH(1)); double sin_long = sin(LLH(1));
// C++11 and arma >= 5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat}, arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0}, {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; // ECEF to Geo
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; // ECEF to Geo
// Transform velocity using (2.73) // Transform velocity using (2.73)
v_eb_n = C_e_n * v_eb_e; v_eb_n = C_e_n * v_eb_e;
@ -417,14 +408,9 @@ void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat
((1 - e * e) * R_E + LLH(2)) * sin_lat}; ((1 - e * e) * R_E + LLH(2)) * sin_lat};
// Calculate ECEF to Geo coordinate transformation matrix using (2.150) // Calculate ECEF to Geo coordinate transformation matrix using (2.150)
// C++11 and arma>=5.2 arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat}, {-sin_long, cos_long, 0},
// {-sin_long, cos_long, 0}, {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
// Transform velocity using (2.73) // Transform velocity using (2.73)
v_eb_e = C_e_n.t() * v_eb_n; v_eb_e = C_e_n.t() * v_eb_n;
@ -453,10 +439,9 @@ void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_
((1 - pow(e, 2)) * R_E + h_b) * sin_lat}; ((1 - pow(e, 2)) * R_E + h_b) * sin_lat};
// Calculate ECEF to Geo coordinate transformation matrix using (2.150) // Calculate ECEF to Geo coordinate transformation matrix using (2.150)
arma::mat C_e_n = arma::zeros(3, 3); arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr {-sin_long, cos_long, 0.0},
<< -sin_long << cos_long << 0 << arma::endr {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr;
// Transform velocity using (2.73) // Transform velocity using (2.73)
v_eb_e = C_e_n.t() * v_eb_n; v_eb_e = C_e_n.t() * v_eb_n;