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fixing unintended integer division

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This commit is contained in:
Carles Fernandez 2015-05-13 00:26:12 +02:00
parent 5d6a661842
commit 63e7cf810c
2 changed files with 20 additions and 20 deletions
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22
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -489,24 +489,24 @@ void gps_l1_ca_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selec
4. World Geodetic System 1984 4. World Geodetic System 1984
*/ */
const double a[5] = {6378388, 6378160, 6378135, 6378137, 6378137}; const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1/297, 1/298.247, 1/298.26, 1/298.257222101, 1/298.257223563}; const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
double lambda = atan2(Y,X); double lambda = atan2(Y,X);
double ex2 = (2 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1 - f[elipsoid_selection])*(1 - f[elipsoid_selection])); double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
double c = a[elipsoid_selection] * sqrt(1 + ex2); double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
double phi = atan(Z / ((sqrt(X*X + Y*Y)*(1 - (2 - f[elipsoid_selection])) * f[elipsoid_selection]))); double phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
double h = 0.1; double h = 0.1;
double oldh = 0; double oldh = 0.0;
double N; double N;
int iterations = 0; int iterations = 0;
do do
{ {
oldh = h; oldh = h;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi))); N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(Z / ((sqrt(X*X + Y*Y) * (1 - (2 -f[elipsoid_selection]) * f[elipsoid_selection] *N / (N + h) )))); phi = atan(Z / ((sqrt(X*X + Y*Y) * (1.0 - (2.0 -f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h) ))));
h = sqrt(X*X + Y*Y) / cos(phi) - N; h = sqrt(X * X + Y * Y) / cos(phi) - N;
iterations = iterations + 1; iterations = iterations + 1;
if (iterations > 100) if (iterations > 100)
{ {
@ -516,7 +516,7 @@ void gps_l1_ca_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selec
} }
while (std::abs(h - oldh) > 1.0e-12); while (std::abs(h - oldh) > 1.0e-12);
d_latitude_d = phi * 180.0 / GPS_PI; d_latitude_d = phi * 180.0 / GPS_PI;
d_longitude_d = lambda * 180 / GPS_PI; d_longitude_d = lambda * 180.0 / GPS_PI;
d_height_m = h; d_height_m = h;
} }
@ -586,7 +586,7 @@ void gps_l1_ca_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a
} }
else else
{ {
sinphi = 0; sinphi = 0.0;
} }
*dphi = asin(sinphi); *dphi = asin(sinphi);
@ -605,7 +605,7 @@ void gps_l1_ca_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a
double N_phi; double N_phi;
double dP; double dP;
double dZ; double dZ;
double oneesq = 1 - esq; double oneesq = 1.0 - esq;
for (int i = 0; i < maxit; i++) for (int i = 0; i < maxit; i++)
{ {

18
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -584,24 +584,24 @@ void hybrid_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selectio
4. World Geodetic System 1984 4. World Geodetic System 1984
*/ */
const double a[5] = {6378388, 6378160, 6378135, 6378137, 6378137}; const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1/297, 1/298.247, 1/298.26, 1/298.257222101, 1/298.257223563}; const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 298.257223563};
double lambda = atan2(Y, X); double lambda = atan2(Y, X);
double ex2 = (2 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1 - f[elipsoid_selection])*(1 - f[elipsoid_selection])); double ex2 = (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1.0 - f[elipsoid_selection]) * (1.0 - f[elipsoid_selection]));
double c = a[elipsoid_selection] * sqrt(1+ex2); double c = a[elipsoid_selection] * sqrt(1.0 + ex2);
double phi = atan(Z / ((sqrt(X*X + Y*Y)*(1 - (2 - f[elipsoid_selection])) * f[elipsoid_selection]))); double phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection])) * f[elipsoid_selection])));
double h = 0.1; double h = 0.1;
double oldh = 0; double oldh = 0.0;
double N; double N;
int iterations = 0; int iterations = 0;
do do
{ {
oldh = h; oldh = h;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi))); N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(Z / ((sqrt(X*X + Y*Y) * (1 - (2 - f[elipsoid_selection]) * f[elipsoid_selection] *N / (N + h) )))); phi = atan(Z / ((sqrt(X * X + Y * Y) * (1.0 - (2.0 - f[elipsoid_selection]) * f[elipsoid_selection] * N / (N + h) ))));
h = sqrt(X*X + Y*Y) / cos(phi) - N; h = sqrt(X * X + Y * Y) / cos(phi) - N;
iterations = iterations + 1; iterations = iterations + 1;
if (iterations > 100) if (iterations > 100)
{ {
@ -611,7 +611,7 @@ void hybrid_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selectio
} }
while (std::abs(h - oldh) > 1.0e-12); while (std::abs(h - oldh) > 1.0e-12);
d_latitude_d = phi * 180.0 / GPS_PI; d_latitude_d = phi * 180.0 / GPS_PI;
d_longitude_d = lambda * 180 / GPS_PI; d_longitude_d = lambda * 180.0 / GPS_PI;
d_height_m = h; d_height_m = h;
} }