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Fix building if Armadillo was not installed in the system

Browse Source 
Code cleaning
Keep consistency with names of include guards
Fix some defects detected by Coverity Scan
This commit is contained in:
Carles Fernandez 2018-08-30 19:24:28 +02:00
parent e282b075f4
commit 774e50545e
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GPG Key ID: 4C583C52B0C3877D
8 changed files with 191 additions and 205 deletions
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27
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.cc
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@ -87,7 +87,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS); d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E1_CODE_PERIOD_MS);
d_samples_per_symbol = Galileo_E1_B_SAMPLES_PER_SYMBOL; d_samples_per_symbol = Galileo_E1_B_SAMPLES_PER_SYMBOL;
@ -98,12 +98,13 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble; d_required_symbols = static_cast<uint32_t>(GALILEO_INAV_PAGE_SYMBOLS) + d_samples_per_preamble;
// preamble bits to sampled symbols // preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = nullptr;
d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS; d_frame_length_symbols = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS; CodeLength = GALILEO_INAV_PAGE_PART_SYMBOLS - GALILEO_INAV_PREAMBLE_LENGTH_BITS;
DataLength = (CodeLength / nn) - mm; DataLength = (CodeLength / nn) - mm;
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS); d_PRN_code_period_ms = static_cast<uint32_t>(GALILEO_E5a_CODE_PERIOD_MS);
d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL; d_samples_per_symbol = GALILEO_FNAV_CODES_PER_SYMBOL;
@ -114,7 +115,6 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble; d_required_symbols = static_cast<uint32_t>(GALILEO_FNAV_SYMBOLS_PER_PAGE) * d_samples_per_symbol + d_samples_per_preamble;
// preamble bits to sampled symbols // preamble bits to sampled symbols
d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_preamble_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(d_samples_per_preamble * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment())); d_secondary_code_samples = static_cast<int32_t *>(volk_gnsssdr_malloc(Galileo_E5a_I_SECONDARY_CODE_LENGTH * sizeof(int32_t), volk_gnsssdr_get_alignment()));
d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS; d_frame_length_symbols = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS; CodeLength = GALILEO_FNAV_SYMBOLS_PER_PAGE - GALILEO_FNAV_PREAMBLE_LENGTH_BITS;
@ -142,7 +142,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
{ {
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (GALILEO_INAV_PREAMBLE.at(i) == '1') if (GALILEO_INAV_PREAMBLE.at(i) == '1')
{ {
@ -162,7 +162,7 @@ galileo_telemetry_decoder_cc::galileo_telemetry_decoder_cc(
} }
break; break;
} }
case 2: //FNAV for E5a-I case 2: // FNAV for E5a-I
{ {
// Galileo E5a data channel (E5a-I) still has a secondary code // Galileo E5a data channel (E5a-I) still has a secondary code
int m = 0; int m = 0;
@ -412,6 +412,7 @@ void galileo_telemetry_decoder_cc::decode_FNAV_word(double *page_symbols, int32_
} }
} }
void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite) void galileo_telemetry_decoder_cc::set_satellite(const Gnss_Satellite &satellite)
{ {
d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN()); d_satellite = Gnss_Satellite(satellite.get_system(), satellite.get_PRN());
@ -525,7 +526,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
// call the decoder // call the decoder
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
// NEW Galileo page part is received // NEW Galileo page part is received
// 0. fetch the symbols into an array // 0. fetch the symbols into an array
if (corr_value > 0) //normal PLL lock if (corr_value > 0) //normal PLL lock
@ -544,7 +545,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
} }
decode_INAV_word(d_page_part_symbols, d_frame_length_symbols); decode_INAV_word(d_page_part_symbols, d_frame_length_symbols);
break; break;
case 2: //FNAV case 2: // FNAV
// NEW Galileo page part is received // NEW Galileo page part is received
// 0. fetch the symbols into an array // 0. fetch the symbols into an array
if (corr_value > 0) //normal PLL lock if (corr_value > 0) //normal PLL lock
@ -620,7 +621,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
{ {
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (d_inav_nav.flag_TOW_set == true) if (d_inav_nav.flag_TOW_set == true)
{ {
@ -647,7 +648,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
} }
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
if (d_fnav_nav.flag_TOW_set == true) if (d_fnav_nav.flag_TOW_set == true)
{ {
@ -692,7 +693,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
{ {
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (d_inav_nav.flag_TOW_set == true) if (d_inav_nav.flag_TOW_set == true)
{ {
@ -700,7 +701,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
} }
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
if (d_fnav_nav.flag_TOW_set == true) if (d_fnav_nav.flag_TOW_set == true)
{ {
@ -720,7 +721,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
switch (d_frame_type) switch (d_frame_type)
{ {
case 1: //INAV case 1: // INAV
{ {
if (d_inav_nav.flag_TOW_set) if (d_inav_nav.flag_TOW_set)
{ {
@ -734,7 +735,7 @@ int galileo_telemetry_decoder_cc::general_work(int noutput_items __attribute__((
break; break;
} }
case 2: //FNAV case 2: // FNAV
{ {
if (d_fnav_nav.flag_TOW_set) if (d_fnav_nav.flag_TOW_set)
{ {

5
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_cc.h
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@ -29,8 +29,8 @@
*/ */
#ifndef GNSS_SDR_galileo_telemetry_decoder_cc_H #ifndef GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
#define GNSS_SDR_galileo_telemetry_decoder_cc_H #define GNSS_SDR_GALILEO_TELEMETRY_DECODER_CC_H
#include "Galileo_E1.h" #include "Galileo_E1.h"
@ -56,7 +56,6 @@ galileo_telemetry_decoder_cc_sptr galileo_make_telemetry_decoder_cc(const Gnss_S
/*! /*!
* \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD * \brief This class implements a block that decodes the INAV and FNAV data defined in Galileo ICD
*
*/ */
class galileo_telemetry_decoder_cc : public gr::block class galileo_telemetry_decoder_cc : public gr::block
{ {

5
src/tests/system-tests/libs/CMakeLists.txt
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@ -28,6 +28,7 @@ include_directories(
${GLOG_INCLUDE_DIRS} ${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS} ${MATIO_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS}
) )
@ -37,5 +38,7 @@ add_library(system_testing_lib ${SYSTEM_TESTING_LIB_SOURCES} ${SYSTEM_TESTING_LI
source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS}) source_group(Headers FILES ${SYSTEM_TESTING_LIB_HEADERS})
if(NOT MATIO_FOUND) if(NOT MATIO_FOUND)
add_dependencies(system_testing_lib matio-${GNSSSDR_MATIO_LOCAL_VERSION}) add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE} matio-${GNSSSDR_MATIO_LOCAL_VERSION})
else(NOT MATIO_FOUND)
add_dependencies(system_testing_lib armadillo-${armadillo_RELEASE})
endif(NOT MATIO_FOUND) endif(NOT MATIO_FOUND)

129
src/tests/system-tests/libs/geofunctions.cc
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@ -1,5 +1,5 @@
/*! /*!
* \file geofunctions.h * \file geofunctions.cc
* \brief A set of coordinate transformations functions and helpers, * \brief A set of coordinate transformations functions and helpers,
* some of them migrated from MATLAB, for geographic information systems. * some of them migrated from MATLAB, for geographic information systems.
* \author Javier Arribas, 2018. jarribas(at)cttc.es * \author Javier Arribas, 2018. jarribas(at)cttc.es
@ -30,10 +30,10 @@
*/ */
#include "geofunctions.h" #include "geofunctions.h"
#define STRP_G_SI 9.80665 const double STRP_G_SI = 9.80665;
#define STRP_PI 3.1415926535898 //!< Pi as defined in IS-GPS-200E const double STRP_PI = 3.1415926535898; //!< Pi as defined in IS-GPS-200E
arma::mat Skew_symmetric(arma::vec a) arma::mat Skew_symmetric(const arma::vec &a)
{ {
arma::mat A = arma::zeros(3, 3); arma::mat A = arma::zeros(3, 3);
@ -50,45 +50,46 @@ arma::mat Skew_symmetric(arma::vec a)
double WGS84_g0(double Lat_rad) double WGS84_g0(double Lat_rad)
{ {
double k = 0.001931853; //normal gravity constant const double k = 0.001931853; // normal gravity constant
double e2 = 0.00669438002290; //the square of the first numerical eccentricity const double e2 = 0.00669438002290; // the square of the first numerical eccentricity
double nge = 9.7803253359; //normal gravity value on the equator (m/sec^2) const double nge = 9.7803253359; // normal gravity value on the equator (m/sec^2)
double b = sin(Lat_rad); //Lat in degrees double b = sin(Lat_rad); // Lat in degrees
b = b * b; b = b * b;
double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b)); double g0 = nge * (1 + k * b) / (sqrt(1 - e2 * b));
return g0; return g0;
} }
double WGS84_geocentric_radius(double Lat_geodetic_rad) double WGS84_geocentric_radius(double Lat_geodetic_rad)
{ {
//WGS84 earth model Geocentric radius (Eq. 2.88) // WGS84 earth model Geocentric radius (Eq. 2.88)
const double WGS84_A = 6378137.0; // Semi-major axis of the Earth, a [m]
const double WGS84_IF = 298.257223563; // Inverse flattening of the Earth
const double WGS84_F = (1.0 / WGS84_IF); // The flattening of the Earth
// double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
double WGS84_E = (sqrt(2 * WGS84_F - WGS84_F * WGS84_F)); // Eccentricity of the Earth
double WGS84_A = 6378137.0; //Semi-major axis of the Earth, a [m] // transverse radius of curvature
double WGS84_IF = 298.257223563; //Inverse flattening of the Earth
double WGS84_F = (1 / WGS84_IF); //The flattening of the Earth
//double WGS84_B=(WGS84_A*(1-WGS84_F)); // Semi-minor axis of the Earth [m]
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 * WGS84_E * WGS84_E *
sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad) *
sin(Lat_geodetic_rad)); // (Eq. 2.66) sin(Lat_geodetic_rad)); // (Eq. 2.66)
//gocentric radius at the Earth surface // geocentric radius at the Earth surface
double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) + double r_eS = R_E * sqrt(cos(Lat_geodetic_rad) * cos(Lat_geodetic_rad) +
(1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.88) (1 - WGS84_E * WGS84_E) * (1 - WGS84_E * WGS84_E) * sin(Lat_geodetic_rad) * sin(Lat_geodetic_rad)); // (Eq. 2.88)
return r_eS; return r_eS;
} }
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx) int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx)
{ {
double lambda; double lambda;
double phi; double phi;
double h; double h;
double dtr = STRP_PI / 180.0; const double dtr = STRP_PI / 180.0;
double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84 const double a = 6378137.0; // semi-major axis of the reference ellipsoid WGS-84
double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84 const double finv = 298.257223563; // inverse of flattening of the reference ellipsoid WGS-84
// Transform x into geodetic coordinates // Transform x into geodetic coordinates
togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2)); togeod(&phi, &lambda, &h, a, finv, x(0), x(1), x(2));
@ -147,9 +148,9 @@ 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) int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z)
{ {
*h = 0; *h = 0;
double tolsq = 1.e-10; // tolerance to accept convergence const double tolsq = 1.e-10; // tolerance to accept convergence
int maxit = 10; // max number of iterations const int maxit = 10; // max number of iterations
double rtd = 180.0 / STRP_PI; const double rtd = 180.0 / STRP_PI;
// compute square of eccentricity // compute square of eccentricity
double esq; double esq;
@ -165,7 +166,7 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
// first guess // first guess
double P = sqrt(X * X + Y * Y); // P is distance from spin axis double P = sqrt(X * X + Y * Y); // P is distance from spin axis
//direct calculation of longitude // direct calculation of longitude
if (P > 1.0E-20) if (P > 1.0E-20)
{ {
*dlambda = atan2(Y, X) * rtd; *dlambda = atan2(Y, X) * rtd;
@ -241,27 +242,28 @@ int togeod(double *dphi, double *dlambda, double *h, double a, double finv, doub
return 0; return 0;
} }
arma::mat Gravity_ECEF(arma::vec r_eb_e)
arma::mat Gravity_ECEF(const arma::vec &r_eb_e)
{ {
//Parameters // Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters const double R_0 = 6378137; // WGS84 Equatorial radius in meters
double mu = 3.986004418E14; //WGS84 Earth gravitational constant (m^3 s^-2) const double mu = 3.986004418E14; // WGS84 Earth gravitational constant (m^3 s^-2)
double J_2 = 1.082627E-3; //WGS84 Earth's second gravitational constant const double J_2 = 1.082627E-3; // WGS84 Earth's second gravitational constant
double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s) const double omega_ie = 7.292115E-5; // Earth rotation rate (rad/s)
// Calculate distance from center of the Earth // Calculate distance from center of the Earth
double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e)); double mag_r = sqrt(arma::as_scalar(r_eb_e.t() * r_eb_e));
// If the input position is 0,0,0, produce a dummy output // If the input position is 0,0,0, produce a dummy output
arma::vec g = arma::zeros(3, 1); arma::vec g = arma::zeros(3, 1);
if (mag_r != 0) if (mag_r != 0)
{ {
//Calculate gravitational acceleration using (2.142) // Calculate gravitational acceleration using (2.142)
double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2); double z_scale = 5 * pow((r_eb_e(2) / mag_r), 2);
arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0), arma::vec tmp_vec = {(1 - z_scale) * r_eb_e(0),
(1 - z_scale) * r_eb_e(1), (1 - z_scale) * r_eb_e(1),
(3 - z_scale) * r_eb_e(2)}; (3 - z_scale) * r_eb_e(2)};
arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec); arma::vec gamma_ = (-mu / pow(mag_r, 3)) * (r_eb_e + 1.5 * J_2 * pow(R_0 / mag_r, 2) * tmp_vec);
//Add centripetal acceleration using (2.133) // Add centripetal acceleration using (2.133)
g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0); g(0) = gamma_(0) + pow(omega_ie, 2) * r_eb_e(0);
g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1); g(1) = gamma_(1) + pow(omega_ie, 2) * r_eb_e(1);
g(2) = gamma_(2); g(2) = gamma_(2);
@ -269,20 +271,23 @@ arma::mat Gravity_ECEF(arma::vec r_eb_e)
return g; return g;
} }
arma::vec LLH_to_deg(arma::vec LLH)
arma::vec LLH_to_deg(arma::vec &LLH)
{ {
double rtd = 180.0 / STRP_PI; const double rtd = 180.0 / STRP_PI;
LLH(0) = LLH(0) * rtd; LLH(0) = LLH(0) * rtd;
LLH(1) = LLH(1) * rtd; LLH(1) = LLH(1) * rtd;
return LLH; return LLH;
} }
double degtorad(double angleInDegrees) double degtorad(double angleInDegrees)
{ {
double angleInRadians = (STRP_PI / 180.0) * angleInDegrees; double angleInRadians = (STRP_PI / 180.0) * angleInDegrees;
return angleInRadians; return angleInRadians;
} }
double radtodeg(double angleInRadians) double radtodeg(double angleInRadians)
{ {
double angleInDegrees = (180.0 / STRP_PI) * angleInRadians; double angleInDegrees = (180.0 / STRP_PI) * angleInRadians;
@ -296,15 +301,17 @@ double mstoknotsh(double MetersPerSeconds)
return knots; return knots;
} }
double mstokph(double MetersPerSeconds) double mstokph(double MetersPerSeconds)
{ {
double kph = 3600.0 * MetersPerSeconds / 1e3; double kph = 3600.0 * MetersPerSeconds / 1e3;
return kph; return kph;
} }
arma::vec CTM_to_Euler(arma::mat C)
arma::vec CTM_to_Euler(arma::mat &C)
{ {
//Calculate Euler angles using (2.23) // Calculate Euler angles using (2.23)
arma::vec eul = arma::zeros(3, 1); arma::vec eul = arma::zeros(3, 1);
eul(0) = atan2(C(1, 2), C(2, 2)); // roll eul(0) = atan2(C(1, 2), C(2, 2)); // roll
if (C(0, 2) < -1.0) C(0, 2) = -1.0; if (C(0, 2) < -1.0) C(0, 2) = -1.0;
@ -314,18 +321,19 @@ arma::vec CTM_to_Euler(arma::mat C)
return eul; return eul;
} }
arma::mat Euler_to_CTM(arma::vec eul)
arma::mat Euler_to_CTM(const arma::vec &eul)
{ {
//Eq.2.15 // Eq.2.15
//Euler angles to Attitude matrix is equivalent to rotate the body // Euler angles to Attitude matrix is equivalent to rotate the body
//in the three axes: // in the three axes:
// arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}}; // arma::mat Ax= {{1,0,0}, {0,cos(Att_phi),sin(Att_phi)} ,{0,-sin(Att_phi),cos(Att_phi)}};
// arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}}; // arma::mat Ay= {{cos(Att_theta), 0, -sin(Att_theta)}, {0,1,0} , {sin(Att_theta), 0, cos(Att_theta)}};
// arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}}; // arma::mat Az= {{cos(Att_psi), sin(Att_psi), 0}, {-sin(Att_psi), cos(Att_psi), 0},{0,0,1}};
// arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED) // arma::mat C_b_n=Ax*Ay*Az; // Attitude expressed in the LOCAL FRAME (NED)
// C_b_n=C_b_n.t(); // C_b_n=C_b_n.t();
//Precalculate sines and cosines of the Euler angles // Precalculate sines and cosines of the Euler angles
double sin_phi = sin(eul(0)); double sin_phi = sin(eul(0));
double cos_phi = cos(eul(0)); double cos_phi = cos(eul(0));
double sin_theta = sin(eul(1)); double sin_theta = sin(eul(1));
@ -334,7 +342,7 @@ arma::mat Euler_to_CTM(arma::vec eul)
double cos_psi = cos(eul(2)); double cos_psi = cos(eul(2));
arma::mat C = arma::zeros(3, 3); arma::mat C = arma::zeros(3, 3);
//Calculate coordinate transformation matrix using (2.22) // Calculate coordinate transformation matrix using (2.22)
C(0, 0) = cos_theta * cos_psi; C(0, 0) = cos_theta * cos_psi;
C(0, 1) = cos_theta * sin_psi; C(0, 1) = cos_theta * sin_psi;
C(0, 2) = -sin_theta; C(0, 2) = -sin_theta;
@ -347,7 +355,8 @@ arma::mat Euler_to_CTM(arma::vec eul)
return C; return C;
} }
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection)
arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection)
{ {
const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0}; const double a[5] = {6378388.0, 6378160.0, 6378135.0, 6378137.0, 6378137.0};
const double f[5] = {1.0 / 297.0, 1.0 / 298.247, 1.0 / 298.26, 1.0 / 298.257222101, 1.0 / 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};
@ -380,37 +389,37 @@ arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection)
return LLH; return LLH;
} }
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n)
{ {
//Compute the Latitude of the ECEF position // Compute the Latitude of the ECEF position
LLH = cart2geo(r_eb_e, 4); //ECEF -> WGS84 geographical LLH = cart2geo(r_eb_e, 4); // ECEF -> WGS84 geographical
// Calculate ECEF to Geographical coordinate transformation matrix using (2.150) // Calculate ECEF to Geographical coordinate transformation matrix using (2.150)
double cos_lat = cos(LLH(0)); double cos_lat = cos(LLH(0));
double sin_lat = sin(LLH(0)); double sin_lat = sin(LLH(0));
double cos_long = cos(LLH(1)); double cos_long = cos(LLH(1));
double sin_long = sin(LLH(1)); double sin_long = sin(LLH(1));
//C++11 and arma >= 5.2 // C++11 and arma >= 5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat}, // arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0}, // {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo // {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; //ECEF to Geo
//C++98 arma <5.2
arma::mat C_e_n = arma::zeros(3, 3); arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr << -sin_long << cos_long << 0 << arma::endr
<< -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; //ECEF to Geo << -cos_lat * cos_long << -cos_lat * sin_long << -sin_lat << arma::endr; // ECEF to Geo
// Transform velocity using (2.73) // Transform velocity using (2.73)
v_eb_n = C_e_n * v_eb_e; v_eb_n = C_e_n * v_eb_e;
C_b_n = C_e_n * C_b_e; // Attitude conversion from ECEF to NED C_b_n = C_e_n * C_b_e; // Attitude conversion from ECEF to NED
} }
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e)
{ {
// Parameters // Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters double R_0 = 6378137; // WGS84 Equatorial radius in meters
double e = 0.0818191908425; //WGS84 eccentricity double e = 0.0818191908425; // WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105) // Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0)))); double R_E = R_0 / sqrt(1 - (e * sin(LLH(0))) * (e * sin(LLH(0))));
@ -424,13 +433,11 @@ void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_
(R_E + LLH(2)) * cos_lat * sin_long, (R_E + LLH(2)) * cos_lat * sin_long,
((1 - e * e) * R_E + LLH(2)) * sin_lat}; ((1 - e * e) * R_E + LLH(2)) * sin_lat};
//Calculate ECEF to Geo coordinate transformation matrix using (2.150) // Calculate ECEF to Geo coordinate transformation matrix using (2.150)
//C++11 and arma>=5.2 // C++11 and arma>=5.2
// arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat}, // arma::mat C_e_n = {{-sin_lat * cos_long, -sin_lat * sin_long, cos_lat},
// {-sin_long, cos_long, 0}, // {-sin_long, cos_long, 0},
// {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}}; // {-cos_lat * cos_long, -cos_lat * sin_long, -sin_lat}};
//C++98 arma <5.2
//Calculate ECEF to Geo coordinate transformation matrix using (2.150)
arma::mat C_e_n = arma::zeros(3, 3); arma::mat C_e_n = arma::zeros(3, 3);
C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr C_e_n << -sin_lat * cos_long << -sin_lat * sin_long << cos_lat << arma::endr
<< -sin_long << cos_long << 0 << arma::endr << -sin_long << cos_long << 0 << arma::endr
@ -444,11 +451,11 @@ void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_
} }
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e) void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e)
{ {
//% Parameters // Parameters
double R_0 = 6378137; //WGS84 Equatorial radius in meters const double R_0 = 6378137; // WGS84 Equatorial radius in meters
double e = 0.0818191908425; //WGS84 eccentricity const double e = 0.0818191908425; // WGS84 eccentricity
// Calculate transverse radius of curvature using (2.105) // Calculate transverse radius of curvature using (2.105)
double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2)); double R_E = R_0 / sqrt(1 - pow(e * sin(L_b), 2));

182
src/tests/system-tests/libs/geofunctions.h
View File

@ -29,72 +29,72 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GEOFUNCTIONS_H #ifndef GNSS_SDR_GEOFUNCTIONS_H
#define GEOFUNCTIONS_H #define GNSS_SDR_GEOFUNCTIONS_H
#include <armadillo> #include <armadillo>
// %Skew_symmetric - Calculates skew-symmetric matrix
arma::mat Skew_symmetric(arma::vec a); arma::mat Skew_symmetric(const arma::vec &a); //!< Calculates skew-symmetric matrix
double WGS84_g0(double Lat_rad); double WGS84_g0(double Lat_rad);
double WGS84_geocentric_radius(double Lat_geodetic_rad); double WGS84_geocentric_radius(double Lat_geodetic_rad);
/* Transformation of vector dx into topocentric coordinate /*!
system with origin at x * \brief Transformation of vector dx into topocentric coordinate
Inputs: * system with origin at x
x - vector origin coordinates (in ECEF system [X; Y; Z;]) * Inputs:
dx - vector ([dX; dY; dZ;]). * x - vector origin coordinates (in ECEF system [X; Y; Z;])
* dx - vector ([dX; dY; dZ;]).
Outputs: *
D - vector length. Units like the input * Outputs:
Az - azimuth from north positive clockwise, degrees * D - vector length. Units like the input
El - elevation angle, degrees * Az - azimuth from north positive clockwise, degrees
* El - elevation angle, degrees
Based on a Matlab function by Kai Borre *
* Based on a Matlab function by Kai Borre
*/ */
int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx); int topocent(double *Az, double *El, double *D, const arma::vec &x, const arma::vec &dx);
/* Subroutine to calculate geodetic coordinates latitude, longitude, /*!
height given Cartesian coordinates X,Y,Z, and reference ellipsoid * \brief Subroutine to calculate geodetic coordinates latitude, longitude,
values semi-major axis (a) and the inverse of flattening (finv). * height given Cartesian coordinates X,Y,Z, and reference ellipsoid
* values semi-major axis (a) and the inverse of flattening (finv).
The output units of angular quantities will be in decimal degrees *
(15.5 degrees not 15 deg 30 min). The output units of h will be the * The output units of angular quantities will be in decimal degrees
same as the units of X,Y,Z,a. * (15.5 degrees not 15 deg 30 min). The output units of h will be the
* same as the units of X,Y,Z,a.
Inputs: *
a - semi-major axis of the reference ellipsoid * Inputs:
finv - inverse of flattening of the reference ellipsoid * a - semi-major axis of the reference ellipsoid
X,Y,Z - Cartesian coordinates * finv - inverse of flattening of the reference ellipsoid
* X,Y,Z - Cartesian coordinates
Outputs: *
dphi - latitude * Outputs:
dlambda - longitude * dphi - latitude
h - height above reference ellipsoid * dlambda - longitude
* h - height above reference ellipsoid
Based in a Matlab function by Kai Borre *
* Based in a Matlab function by Kai Borre
*/ */
int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z); int togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
arma::mat Gravity_ECEF(const arma::vec &r_eb_e); //!< Calculates acceleration due to gravity resolved about ECEF-frame
//Gravitation_ECI - Calculates acceleration due to gravity resolved about /*!
//ECEF-frame * \brief Conversion of Cartesian coordinates (X,Y,Z) to geographical
arma::mat Gravity_ECEF(arma::vec r_eb_e); * coordinates (latitude, longitude, h) on a selected reference ellipsoid.
*
/* Conversion of Cartesian coordinates (X,Y,Z) to geographical * Choices of Reference Ellipsoid for Geographical Coordinates
coordinates (latitude, longitude, h) on a selected reference ellipsoid. * 0. International Ellipsoid 1924
* 1. International Ellipsoid 1967
Choices of Reference Ellipsoid for Geographical Coordinates * 2. World Geodetic System 1972
0. International Ellipsoid 1924 * 3. Geodetic Reference System 1980
1. International Ellipsoid 1967 * 4. World Geodetic System 1984
2. World Geodetic System 1972
3. Geodetic Reference System 1980
4. World Geodetic System 1984
*/ */
arma::vec cart2geo(arma::vec XYZ, int elipsoid_selection); arma::vec cart2geo(const arma::vec &XYZ, int elipsoid_selection);
arma::vec LLH_to_deg(arma::vec LLH); arma::vec LLH_to_deg(arma::vec &LLH);
double degtorad(double angleInDegrees); double degtorad(double angleInDegrees);
@ -104,53 +104,51 @@ double mstoknotsh(double MetersPerSeconds);
double mstokph(double Kph); double mstokph(double Kph);
arma::vec CTM_to_Euler(arma::mat &C);
arma::vec CTM_to_Euler(arma::mat C); arma::mat Euler_to_CTM(const arma::vec &eul);
arma::mat Euler_to_CTM(arma::vec eul); void ECEF_to_Geo(const arma::vec &r_eb_e, const arma::vec &v_eb_e, const arma::mat &C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
void ECEF_to_Geo(arma::vec r_eb_e, arma::vec v_eb_e, arma::mat C_b_e, arma::vec &LLH, arma::vec &v_eb_n, arma::mat &C_b_n);
// % /*!
// % Inputs: * \brief From Geographic to ECEF coordinates
// % L_b latitude (rad) *
// % lambda_b longitude (rad) * Inputs:
// % h_b height (m) * LLH latitude (rad), longitude (rad), height (m)
// % v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along * v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
// % north, east, and down (m/s) * north, east, and down (m/s)
// % C_b_n body-to-NED coordinate transformation matrix * C_b_n body-to-NED coordinate transformation matrix
// % *
// % Outputs: * Outputs:
// % r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved * r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
// % along ECEF-frame axes (m) * along ECEF-frame axes (m)
// % v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along * v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
// % ECEF-frame axes (m/s) * ECEF-frame axes (m/s)
// % C_b_e body-to-ECEF-frame coordinate transformation matrix * C_b_e body-to-ECEF-frame coordinate transformation matrix
// *
// % Copyright 2012, Paul Groves */
// % License: BSD; see license.txt for details void Geo_to_ECEF(const arma::vec &LLH, const arma::vec &v_eb_n, const arma::mat &C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
void Geo_to_ECEF(arma::vec LLH, arma::vec v_eb_n, arma::mat C_b_n, arma::vec &r_eb_e, arma::vec &v_eb_e, arma::mat &C_b_e);
//pv_Geo_to_ECEF - Converts curvilinear to Cartesian position and velocity /*!
//resolving axes from NED to ECEF * \brief Converts curvilinear to Cartesian position and velocity
//This function created 11/4/2012 by Paul Groves * resolving axes from NED to ECEF
//% * This function created 11/4/2012 by Paul Groves
//% Inputs: *
//% L_b latitude (rad) * Inputs:
//% lambda_b longitude (rad) * L_b latitude (rad)
//% h_b height (m) * lambda_b longitude (rad)
//% v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along * h_b height (m)
//% north, east, and down (m/s) * v_eb_n velocity of body frame w.r.t. ECEF frame, resolved along
//% * north, east, and down (m/s)
//% Outputs: *
//% r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved * Outputs:
//% along ECEF-frame axes (m) * r_eb_e Cartesian position of body frame w.r.t. ECEF frame, resolved
//% v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along * along ECEF-frame axes (m)
//% ECEF-frame axes (m/s) * v_eb_e velocity of body frame w.r.t. ECEF frame, resolved along
* ECEF-frame axes (m/s)
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, arma::vec v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e); */
void pv_Geo_to_ECEF(double L_b, double lambda_b, double h_b, const arma::vec &v_eb_n, arma::vec &r_eb_e, arma::vec &v_eb_e);
#endif #endif

27
src/tests/system-tests/libs/rtklib_solver_dump_reader.cc
View File

@ -29,7 +29,6 @@
*/ */
#include "rtklib_solver_dump_reader.h" #include "rtklib_solver_dump_reader.h"
#include <iostream> #include <iostream>
bool rtklib_solver_dump_reader::read_binary_obs() bool rtklib_solver_dump_reader::read_binary_obs()
@ -37,46 +36,20 @@ bool rtklib_solver_dump_reader::read_binary_obs()
try try
{ {
d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(TOW_at_current_symbol_ms)); d_dump_file.read(reinterpret_cast<char *>(&TOW_at_current_symbol_ms), sizeof(TOW_at_current_symbol_ms));
// std::cout << "TOW_at_current_symbol_ms: " << TOW_at_current_symbol_ms << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(week)); d_dump_file.read(reinterpret_cast<char *>(&week), sizeof(week));
// std::cout << "week: " << week << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(RX_time)); d_dump_file.read(reinterpret_cast<char *>(&RX_time), sizeof(RX_time));
// std::cout << "RX_time: " << RX_time << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(clk_offset_s)); d_dump_file.read(reinterpret_cast<char *>(&clk_offset_s), sizeof(clk_offset_s));
// std::cout << "clk_offset_s: " << clk_offset_s << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(rr)); d_dump_file.read(reinterpret_cast<char *>(&rr[0]), sizeof(rr));
// for (int n = 0; n < 6; n++)
// {
// std::cout << "rr: " << rr[n] << std::endl;
// }
d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(qr)); d_dump_file.read(reinterpret_cast<char *>(&qr[0]), sizeof(qr));
// for (int n = 0; n < 6; n++)
// {
// std::cout << "qr" << qr[n] << std::endl;
// }
d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(latitude)); d_dump_file.read(reinterpret_cast<char *>(&latitude), sizeof(latitude));
//std::cout << "latitude: " << latitude << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(longitude)); d_dump_file.read(reinterpret_cast<char *>(&longitude), sizeof(longitude));
//std::cout << "longitude: " << longitude << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(height)); d_dump_file.read(reinterpret_cast<char *>(&height), sizeof(height));
//std::cout << "height: " << height << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(ns)); d_dump_file.read(reinterpret_cast<char *>(&ns), sizeof(ns));
// std::cout << "ns: " << (int)ns << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(status)); d_dump_file.read(reinterpret_cast<char *>(&status), sizeof(status));
// std::cout << "status: " << (int)status << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(type)); d_dump_file.read(reinterpret_cast<char *>(&type), sizeof(type));
// std::cout << "type: " << (int)type << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(AR_ratio)); d_dump_file.read(reinterpret_cast<char *>(&AR_ratio), sizeof(AR_ratio));
// std::cout << "AR_ratio: " << AR_ratio << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(AR_thres)); d_dump_file.read(reinterpret_cast<char *>(&AR_thres), sizeof(AR_thres));
// std::cout << "AR_thres: " << AR_thres << std::endl;
d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(dop)); d_dump_file.read(reinterpret_cast<char *>(&dop[0]), sizeof(dop));
// for (int n = 0; n < 4; n++)
// {
// std::cout << "dop" << dop[n] << std::endl;
// }
// getchar();
} }
catch (const std::ifstream::failure &e) catch (const std::ifstream::failure &e)
{ {

7
src/tests/system-tests/libs/spirent_motion_csv_dump_reader.cc
View File

@ -64,6 +64,7 @@ bool spirent_motion_csv_dump_reader::read_csv_obs()
return true; return true;
} }
bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec) bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
{ {
try try
@ -114,6 +115,8 @@ bool spirent_motion_csv_dump_reader::parse_vector(std::vector<double> &vec)
return false; return false;
} }
} }
bool spirent_motion_csv_dump_reader::restart() bool spirent_motion_csv_dump_reader::restart()
{ {
if (d_dump_file.is_open()) if (d_dump_file.is_open())
@ -136,7 +139,7 @@ bool spirent_motion_csv_dump_reader::restart()
int64_t spirent_motion_csv_dump_reader::num_epochs() int64_t spirent_motion_csv_dump_reader::num_epochs()
{ {
int64_t nepoch = 0; int64_t nepoch = 0LL;
std::string line; std::string line;
std::ifstream tmpfile(d_dump_filename.c_str()); std::ifstream tmpfile(d_dump_filename.c_str());
if (tmpfile.is_open()) if (tmpfile.is_open())
@ -182,6 +185,7 @@ bool spirent_motion_csv_dump_reader::open_obs_file(std::string out_file)
} }
} }
void spirent_motion_csv_dump_reader::close_obs_file() void spirent_motion_csv_dump_reader::close_obs_file()
{ {
if (d_dump_file.is_open() == false) if (d_dump_file.is_open() == false)
@ -190,6 +194,7 @@ void spirent_motion_csv_dump_reader::close_obs_file()
} }
} }
spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader() spirent_motion_csv_dump_reader::spirent_motion_csv_dump_reader()
{ {
header_lines = 2; header_lines = 2;

8
src/tests/system-tests/libs/spirent_motion_csv_dump_reader.h
View File

@ -28,8 +28,8 @@
* ------------------------------------------------------------------------- * -------------------------------------------------------------------------
*/ */
#ifndef GNSS_SDR_spirent_motion_csv_dump_READER_H #ifndef GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
#define GNSS_SDR_spirent_motion_csv_dump_READER_H #define GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H
#include <boost/tokenizer.hpp> #include <boost/tokenizer.hpp>
#include <cstdint> #include <cstdint>
@ -49,7 +49,7 @@ public:
void close_obs_file(); void close_obs_file();
int header_lines; int header_lines;
//dump variables // dump variables
double TOW_ms; double TOW_ms;
double Pos_X; double Pos_X;
double Pos_Y; double Pos_Y;
@ -95,4 +95,4 @@ private:
bool parse_vector(std::vector<double> &vec); bool parse_vector(std::vector<double> &vec);
}; };
#endif //GNSS_SDR_spirent_motion_csv_dump_READER_H #endif // GNSS_SDR_SPIRENT_MOTION_CSV_DUMP_READER_H