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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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25
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -79,7 +79,7 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
{
try
{
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.exceptions(std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
LOG(INFO) << "PVT lib dump enabled Log file: " << d_dump_filename.c_str();
}
@ -94,13 +94,23 @@ rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag
rtklib_solver::~rtklib_solver()
{
if (d_dump_file.is_open() == true)
{
try
{
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,Gps_Ephemeris>::iterator gps_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];
eph_t eph_data[MAXOBS];
for(gnss_observables_iter = gnss_observables_map.begin();
gnss_observables_iter != gnss_observables_map.end();
for(gnss_observables_iter = gnss_observables_map.cbegin();
gnss_observables_iter != gnss_observables_map.cend();
gnss_observables_iter++)
{
switch(gnss_observables_iter->second.System)
@ -158,7 +168,7 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
bool found_E1_obs=false;
for (int i = 0; i < valid_obs; i++)
{
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN+NSATGPS+NSATGLO)))
if (eph_data[i].sat == (static_cast<int>(gnss_observables_iter->second.PRN + NSATGPS + NSATGLO)))
{
obs_data[i] = insert_obs_to_rtklib(obs_data[i],
gnss_observables_iter->second,
@ -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;
}
}
break;
}
@ -357,4 +366,4 @@ bool rtklib_solver::get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, dou
}
}
return b_valid_position;
}
}

22
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -71,17 +71,21 @@
class rtklib_solver : public Pvt_Solution
{
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:
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();
bool get_PVT(std::map<int,Gnss_Synchro> gnss_observables_map, double Rx_time, bool flag_averaging);
int d_nchannels; //!< Number of available channels for positioning
bool get_PVT(const std::map<int,Gnss_Synchro> & gnss_observables_map, double Rx_time, bool flag_averaging);
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_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_Iono galileo_iono;
@ -94,14 +98,6 @@ public:
Gps_CNAV_Utc_Model gps_cnav_utc_model;
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