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Code Issues Releases Wiki Activity

Improve constructors

Browse Source 
Prefer initialization to assignment in constructors

Improves the readability of the code and performance

Easier detection of unused members

(see https://github.com/isocpp/CppCoreGuidelines/blob/master/CppCoreGuidelines.md\#Rc-initialize\)
This commit is contained in:
Carles Fernandez
2021-10-10 18:54:42 +02:00
parent 8cd13e7ccb
commit 446b7cfbea
25 changed files with 397 additions and 400 deletions
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140
src/algorithms/PVT/libs/rtklib_solver.cc
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@@ -43,14 +43,16 @@
#include <vector>
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk, int nchannels, const std::string &dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat)
Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
const std::string &dump_filename,
bool flag_dump_to_file,
bool flag_dump_to_mat) : d_rtk(rtk),
d_dump_filename(dump_filename),
d_flag_dump_enabled(flag_dump_to_file),
d_flag_dump_mat_enabled(flag_dump_to_mat)
{
// init empty ephemeris for all the available GNSS channels
rtk_ = rtk;
d_nchannels = nchannels;
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
d_flag_dump_mat_enabled = flag_dump_to_mat;
this->set_averaging_flag(false);
// ############# ENABLE DATA FILE LOG #################
@@ -351,31 +353,31 @@ bool Rtklib_Solver::save_matfile() const
double Rtklib_Solver::get_gdop() const
{
return dop_[0];
return d_dop[0];
}
double Rtklib_Solver::get_pdop() const
{
return dop_[1];
return d_dop[1];
}
double Rtklib_Solver::get_hdop() const
{
return dop_[2];
return d_dop[2];
}
double Rtklib_Solver::get_vdop() const
{
return dop_[3];
return d_dop[3];
}
Monitor_Pvt Rtklib_Solver::get_monitor_pvt() const
{
return monitor_pvt;
return d_monitor_pvt;
}
@@ -398,7 +400,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
int valid_obs = 0; // valid observations counter
int glo_valid_obs = 0; // GLONASS L1/L2 valid observations counter
obs_data.fill({});
d_obs_data.fill({});
std::vector<eph_t> eph_data(MAXOBS);
std::vector<geph_t> geph_data(MAXOBS);
@@ -455,7 +457,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
0);
@@ -479,7 +481,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
@@ -497,7 +499,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
galileo_ephemeris_iter->second.WN,
2); // Band 3 (L5/E5)
@@ -525,7 +527,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(gps_ephemeris_iter->second, this->is_pre_2009());
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_ephemeris_iter->second.WN,
0,
@@ -555,7 +557,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
eph_data[i].week,
1); // Band 2 (L2)
@@ -574,7 +576,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
1); // Band 2 (L2)
@@ -603,7 +605,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (eph_data[i].sat == static_cast<int>(gnss_observables_iter->second.PRN))
{
eph_data[i] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i],
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
@@ -621,7 +623,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
gps_cnav_ephemeris_iter->second.WN,
2); // Band 3 (L5)
@@ -649,7 +651,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
0); // Band 0 (L1)
@@ -672,7 +674,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
if (geph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS)))
{
obs_data[i + valid_obs] = insert_obs_to_rtklib(obs_data[i + valid_obs],
d_obs_data[i + valid_obs] = insert_obs_to_rtklib(d_obs_data[i + valid_obs],
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
@@ -687,7 +689,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
geph_data[glo_valid_obs] = eph_to_rtklib(glonass_gnav_ephemeris_iter->second, gnav_utc);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
glonass_gnav_ephemeris_iter->second.d_WN,
1); // Band 1 (L2)
@@ -715,7 +717,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
eph_data[valid_obs] = eph_to_rtklib(beidou_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
obsd_t newobs{};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
0);
@@ -737,7 +739,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO + NSATGAL + NSATQZS)))
{
obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(obs_data[i + glo_valid_obs],
d_obs_data[i + glo_valid_obs] = insert_obs_to_rtklib(d_obs_data[i + glo_valid_obs],
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 3 (L2/G2/B3)
@@ -755,7 +757,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
d_obs_data[valid_obs + glo_valid_obs] = insert_obs_to_rtklib(newobs,
gnss_observables_iter->second,
beidou_ephemeris_iter->second.WN + BEIDOU_DNAV_BDT2GPST_WEEK_NUM_OFFSET,
2); // Band 2 (L2/G2)
@@ -878,25 +880,25 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
result = rtkpos(&rtk_, obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
result = rtkpos(&d_rtk, d_obs_data.data(), valid_obs + glo_valid_obs, &nav_data);
if (result == 0)
{
LOG(INFO) << "RTKLIB rtkpos error: " << rtk_.errbuf;
rtk_.neb = 0; // clear error buffer to avoid repeating the error message
LOG(INFO) << "RTKLIB rtkpos error: " << d_rtk.errbuf;
d_rtk.neb = 0; // clear error buffer to avoid repeating the error message
this->set_time_offset_s(0.0); // reset rx time estimation
this->set_num_valid_observations(0);
}
else
{
this->set_num_valid_observations(rtk_.sol.ns); // record the number of valid satellites used by the PVT solver
pvt_sol = rtk_.sol;
this->set_num_valid_observations(d_rtk.sol.ns); // record the number of valid satellites used by the PVT solver
pvt_sol = d_rtk.sol;
// DOP computation
unsigned int used_sats = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
{
pvt_ssat[i] = rtk_.ssat[i];
if (rtk_.ssat[i].vs == 1)
pvt_ssat[i] = d_rtk.ssat[i];
if (d_rtk.ssat[i].vs == 1)
{
used_sats++;
}
@@ -904,7 +906,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
std::vector<double> azel(used_sats * 2);
int index_aux = 0;
for (auto &i : rtk_.ssat)
for (auto &i : d_rtk.ssat)
{
if (i.vs == 1)
{
@@ -916,7 +918,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
if (index_aux > 0)
{
dops(index_aux, azel.data(), 0.0, dop_.data());
dops(index_aux, azel.data(), 0.0, d_dop.data());
}
this->set_valid_position(true);
std::array<double, 4> rx_position_and_time{};
@@ -924,7 +926,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
rx_position_and_time[1] = pvt_sol.rr[1]; // [m]
rx_position_and_time[2] = pvt_sol.rr[2]; // [m]
// todo: fix this ambiguity in the RTKLIB units in receiver clock offset!
if (rtk_.opt.mode == PMODE_SINGLE)
if (d_rtk.opt.mode == PMODE_SINGLE)
{
// if the RTKLIB solver is set to SINGLE, the dtr is already expressed in [s]
// add also the clock offset from gps to galileo (pvt_sol.dtr[2])
@@ -977,53 +979,53 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// ######## PVT MONITOR #########
// TOW
monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
d_monitor_pvt.TOW_at_current_symbol_ms = gnss_observables_map.cbegin()->second.TOW_at_current_symbol_ms;
// WEEK
monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
d_monitor_pvt.week = adjgpsweek(nav_data.eph[0].week, this->is_pre_2009());
// PVT GPS time
monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time;
d_monitor_pvt.RX_time = gnss_observables_map.cbegin()->second.RX_time;
// User clock offset [s]
monitor_pvt.user_clk_offset = rx_position_and_time[3];
d_monitor_pvt.user_clk_offset = rx_position_and_time[3];
// ECEF POS X,Y,X [m] + ECEF VEL X,Y,X [m/s] (6 x double)
monitor_pvt.pos_x = pvt_sol.rr[0];
monitor_pvt.pos_y = pvt_sol.rr[1];
monitor_pvt.pos_z = pvt_sol.rr[2];
monitor_pvt.vel_x = pvt_sol.rr[3];
monitor_pvt.vel_y = pvt_sol.rr[4];
monitor_pvt.vel_z = pvt_sol.rr[5];
d_monitor_pvt.pos_x = pvt_sol.rr[0];
d_monitor_pvt.pos_y = pvt_sol.rr[1];
d_monitor_pvt.pos_z = pvt_sol.rr[2];
d_monitor_pvt.vel_x = pvt_sol.rr[3];
d_monitor_pvt.vel_y = pvt_sol.rr[4];
d_monitor_pvt.vel_z = pvt_sol.rr[5];
// position variance/covariance (m^2) {c_xx,c_yy,c_zz,c_xy,c_yz,c_zx} (6 x double)
monitor_pvt.cov_xx = pvt_sol.qr[0];
monitor_pvt.cov_yy = pvt_sol.qr[1];
monitor_pvt.cov_zz = pvt_sol.qr[2];
monitor_pvt.cov_xy = pvt_sol.qr[3];
monitor_pvt.cov_yz = pvt_sol.qr[4];
monitor_pvt.cov_zx = pvt_sol.qr[5];
d_monitor_pvt.cov_xx = pvt_sol.qr[0];
d_monitor_pvt.cov_yy = pvt_sol.qr[1];
d_monitor_pvt.cov_zz = pvt_sol.qr[2];
d_monitor_pvt.cov_xy = pvt_sol.qr[3];
d_monitor_pvt.cov_yz = pvt_sol.qr[4];
d_monitor_pvt.cov_zx = pvt_sol.qr[5];
// GEO user position Latitude [deg]
monitor_pvt.latitude = this->get_latitude();
d_monitor_pvt.latitude = this->get_latitude();
// GEO user position Longitude [deg]
monitor_pvt.longitude = this->get_longitude();
d_monitor_pvt.longitude = this->get_longitude();
// GEO user position Height [m]
monitor_pvt.height = this->get_height();
d_monitor_pvt.height = this->get_height();
// NUMBER OF VALID SATS
monitor_pvt.valid_sats = pvt_sol.ns;
d_monitor_pvt.valid_sats = pvt_sol.ns;
// RTKLIB solution status
monitor_pvt.solution_status = pvt_sol.stat;
d_monitor_pvt.solution_status = pvt_sol.stat;
// RTKLIB solution type (0:xyz-ecef,1:enu-baseline)
monitor_pvt.solution_type = pvt_sol.type;
d_monitor_pvt.solution_type = pvt_sol.type;
// AR ratio factor for validation
monitor_pvt.AR_ratio_factor = pvt_sol.ratio;
d_monitor_pvt.AR_ratio_factor = pvt_sol.ratio;
// AR ratio threshold for validation
monitor_pvt.AR_ratio_threshold = pvt_sol.thres;
d_monitor_pvt.AR_ratio_threshold = pvt_sol.thres;
// GDOP / PDOP/ HDOP/ VDOP
monitor_pvt.gdop = dop_[0];
monitor_pvt.pdop = dop_[1];
monitor_pvt.hdop = dop_[2];
monitor_pvt.vdop = dop_[3];
d_monitor_pvt.gdop = d_dop[0];
d_monitor_pvt.pdop = d_dop[1];
d_monitor_pvt.hdop = d_dop[2];
d_monitor_pvt.vdop = d_dop[3];
this->set_rx_vel({enuv[0], enuv[1], enuv[2]});
@@ -1031,7 +1033,7 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
this->set_clock_drift_ppm(clock_drift_ppm);
// User clock drift [ppm]
monitor_pvt.user_clk_drift_ppm = clock_drift_ppm;
d_monitor_pvt.user_clk_drift_ppm = clock_drift_ppm;
// ######## LOG FILE #########
if (d_flag_dump_enabled == true)
@@ -1104,10 +1106,10 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
d_dump_file.write(reinterpret_cast<char *>(&pvt_sol.thres), sizeof(float));
// GDOP / PDOP/ HDOP/ VDOP
d_dump_file.write(reinterpret_cast<char *>(&dop_[0]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&dop_[1]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&dop_[2]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&dop_[3]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_dop[0]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_dop[1]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_dop[2]), sizeof(double));
d_dump_file.write(reinterpret_cast<char *>(&d_dop[3]), sizeof(double));
}
catch (const std::ifstream::failure &e)
{