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Pass map of observables by reference

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This commit is contained in:
Carles Fernandez 2017-08-16 01:01:59 +02:00
parent 07113fd89d
commit 6c19437520
2 changed files with 252 additions and 247 deletions
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19
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -93,14 +93,24 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
rtklib_solver::~rtklib_solver() rtklib_solver::~rtklib_solver()
{
if (d_dump_file.is_open() == true)
{
try
{ {
d_dump_file.close(); d_dump_file.close();
} }
catch(const std::exception & ex)
{
LOG(WARNING) << "Exception in destructor closing the dump file " << ex.what();
}
}
}
bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging) bool rtklib_solver::get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging)
{ {
std::map<int,Gnss_Synchro>::iterator gnss_observables_iter; std::map<int,Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter; std::map<int,Galileo_Ephemeris>::iterator galileo_ephemeris_iter;
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter; std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter; std::map<int,Gps_CNAV_Ephemeris>::iterator gps_cnav_ephemeris_iter;
@ -115,8 +125,8 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
obsd_t obs_data[MAXOBS]; obsd_t obs_data[MAXOBS];
eph_t eph_data[MAXOBS]; eph_t eph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.begin(); for(gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++) gnss_observables_iter++)
{ {
switch(gnss_observables_iter->second.System) switch(gnss_observables_iter->second.System)
@ -186,7 +196,6 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
{ {
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN; DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->second.PRN;
} }
} }
break; break;
} }

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

@ -71,17 +71,21 @@
class rtklib_solver : public Pvt_Solution class rtklib_solver : public Pvt_Solution
{ {
private: private:
rtk_t rtk_;
std::string d_dump_filename;
std::ofstream d_dump_file;
sol_t pvt_sol;
bool d_flag_dump_enabled;
int d_nchannels; // Number of available channels for positioning
public: public:
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk); rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk);
~rtklib_solver(); ~rtklib_solver();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging); bool get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging);
int d_nchannels; //!< Number of available channels for positioning
std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris std::map<int,Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris std::map<int,Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; std::map<int,Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
Galileo_Utc_Model galileo_utc_model; Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono; Galileo_Iono galileo_iono;
@ -94,14 +98,6 @@ public:
Gps_CNAV_Utc_Model gps_cnav_utc_model; Gps_CNAV_Utc_Model gps_cnav_utc_model;
int count_valid_position; int count_valid_position;
bool d_flag_dump_enabled;
sol_t pvt_sol;
rtk_t rtk_;
std::string d_dump_filename;
std::ofstream d_dump_file;
}; };
#endif #endif