Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

src/tests/system-tests/libs/geofunctions.cc

@@ -70,10 +70,7 @@ double WGS84_geocentric_radius(double Lat_geodetic_rad)
     double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F));  // Eccentricity of the Earth
 
     // transverse radius of curvature
-    double R_E = WGS84_A / sqrt(1 -
+    double R_E = WGS84_A / sqrt(1 - WGS84_E * WGS84_E * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad));  // (Eq. 2.66)
-                                WGS84_E * WGS84_E *
-                                    sin(Lat_geodetic_rad) *
-                                    sin(Lat_geodetic_rad));  // (Eq. 2.66)
 
     // geocentric radius at the Earth surface
     double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) +
@@ -99,19 +96,9 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
     double cb = cos(phi * dtr);
     double sb = sin(phi * dtr);
 
-    arma::mat F = arma::zeros(3, 3);
+    arma::mat F = {{-sl, -sb * cl, cb * cl},
-
+        {cl, -sb * sl, cb * sl},
-    F(0, 0) = -sl;
+        {0.0, cb, sb}};
-    F(0, 1) = -sb * cl;
-    F(0, 2) = cb * cl;
-
-    F(1, 0) = cl;
-    F(1, 1) = -sb * sl;
-    F(1, 2) = cb * sl;
-
-    F(2, 0) = 0;
-    F(2, 1) = cb;
-    F(2, 2) = sb;
 
     arma::vec local_vector;
 
@@ -126,8 +113,8 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
 
     if (hor_dis < 1.0E-20)
         {
-            *Az = 0;
+            *Az = 0.0;
-            *El = 90;
+            *El = 90.0;
         }
     else
         {
@@ -147,7 +134,7 @@ int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::
 
 int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
 {
-    *h = 0;
+    *h = 0.0;
     const double tolsq = 1.e-10;  // tolerance to accept convergence
     const int maxit = 10;         // max number of iterations
     const double rtd = 180.0 / STRP_PI;
@@ -199,7 +186,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
     // approximate distance from origin to surface of ellipsoid
     if (r < 1.0E-20)
         {
-            *h = 0;
+            *h = 0.0;
             return 1;
         }
 
@@ -341,17 +328,10 @@ arma::mat Euler_to_CTM(const arma::vec &eul)
     double sin_psi = sin(eul(2));
     double cos_psi = cos(eul(2));
 
-    arma::mat C = arma::zeros(3, 3);
     // Calculate coordinate transformation matrix using (2.22)
-    C(0, 0) = cos_theta * cos_psi;
+    arma::mat C = {{cos_theta * cos_psi, cos_theta * sin_psi, -sin_theta},
-    C(0, 1) = cos_theta * sin_psi;
+        {-cos_phi * sin_psi + sin_phi * sin_theta * cos_psi, cos_phi * cos_psi + sin_phi * sin_theta * sin_psi, sin_phi * cos_theta},
-    C(0, 2) = -sin_theta;
+        {sin_phi * sin_psi + cos_phi * sin_theta * cos_psi, -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi, cos_phi * cos_theta}};
-    C(1, 0) = -cos_phi * sin_psi + sin_phi * sin_theta * cos_psi;
-    C(1, 1) = cos_phi * cos_psi + sin_phi * sin_theta * sin_psi;
-    C(1, 2) = sin_phi * cos_theta;
-    C(2, 0) = sin_phi * sin_psi + cos_phi * sin_theta * cos_psi;
-    C(2, 1) = -sin_phi * cos_psi + cos_phi * sin_theta * sin_psi;
-    C(2, 2) = cos_phi * cos_theta;
     return C;
 }
 

src/tests/system-tests/libs/spirent_motion_csv_dump_reader.cc

@@ -31,6 +31,60 @@
 #include "spirent_motion_csv_dump_reader.h"
 #include <iostream>
 
+
+spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
+{
+    header_lines = 2;
+    TOW_ms = 0.0;
+    Pos_X = 0.0;
+    Pos_Y = 0.0;
+    Pos_Z = 0.0;
+    Vel_X = 0.0;
+    Vel_Y = 0.0;
+    Vel_Z = 0.0;
+    Acc_X = 0.0;
+    Acc_Y = 0.0;
+    Acc_Z = 0.0;
+    Jerk_X = 0.0;
+    Jerk_Y = 0.0;
+    Jerk_Z = 0.0;
+    Lat = 0.0;
+    Long = 0.0;
+    Height = 0.0;
+    Heading = 0.0;
+    Elevation = 0.0;
+    Bank = 0.0;
+    Ang_vel_X = 0.0;
+    Ang_vel_Y = 0.0;
+    Ang_vel_Z = 0.0;
+    Ang_acc_X = 0.0;
+    Ang_acc_Y = 0.0;
+    Ang_acc_Z = 0.0;
+    Ant1_Pos_X = 0.0;
+    Ant1_Pos_Y = 0.0;
+    Ant1_Pos_Z = 0.0;
+    Ant1_Vel_X = 0.0;
+    Ant1_Vel_Y = 0.0;
+    Ant1_Vel_Z = 0.0;
+    Ant1_Acc_X = 0.0;
+    Ant1_Acc_Y = 0.0;
+    Ant1_Acc_Z = 0.0;
+    Ant1_Lat = 0.0;
+    Ant1_Long = 0.0;
+    Ant1_Height = 0.0;
+    Ant1_DOP = 0.0;
+}
+
+
+spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
+{
+    if (d_dump_file.is_open() == true)
+        {
+            d_dump_file.close();
+        }
+}
+
+
 bool spirent_motion_csv_dump_reader::read_csv_obs()
 {
     try
@@ -193,18 +247,3 @@ void spirent_motion_csv_dump_reader::close_obs_file()
             d_dump_file.close();
         }
 }
-
-
-spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
-{
-    header_lines = 2;
-}
-
-
-spirent_motion_csv_dump_reader::~spirent_motion_csv_dump_reader()
-{
-    if (d_dump_file.is_open() == true)
-        {
-            d_dump_file.close();
-        }
-}