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mod: delete some debug related lines

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M.A.Gomez 2022-12-08 19:48:14 +00:00
parent 1564af8c11
commit 9f8284a909
1 changed files with 13 additions and 13 deletions
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26
src/algorithms/PVT/libs/vtl_engine.cc
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@ -58,7 +58,7 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
counter = counter+1; //uint64_t counter = counter+1; //uint64_t
cout << "counter" << counter<<endl; cout << "counter" << counter<<endl;
//new_data.kf_state.print("new_data kf initial"); //new_data.kf_state.print("new_data kf initial");
if(counter<3000){ // if(counter<100){ //
// receiver solution from rtklib_solver // receiver solution from rtklib_solver
kf_x(0) = new_data.rx_p(0); kf_x(0) = new_data.rx_p(0);
kf_x(1) = new_data.rx_p(1); kf_x(1) = new_data.rx_p(1);
@ -176,18 +176,18 @@ bool Vtl_Engine::vtl_loop(Vtl_Data& new_data)
new_data.kf_P=kf_P_x; new_data.kf_P=kf_P_x;
new_data.kf_state=kf_x; //updated state estimation new_data.kf_state=kf_x; //updated state estimation
//new_data.kf_state.print("computed kf_state"); //new_data.kf_state.print("computed kf_state");
fstream dump_vtl_file; // fstream dump_vtl_file;
dump_vtl_file.open("dump_vtl_file.csv", ios::out|ios::app); // dump_vtl_file.open("dump_vtl_file.csv", ios::out|ios::app);
dump_vtl_file.precision(15); // dump_vtl_file.precision(15);
if (!dump_vtl_file) { // if (!dump_vtl_file) {
cout << "File not created!"; // cout << "File not created!";
} // }
else { // else {
dump_vtl_file << "kf_xerr"<< ","<<kf_xerr(0)<< ","<<kf_xerr(1)<< ","<<kf_xerr(2)<< ","<<kf_xerr(3)<< ","<<kf_xerr(4)<< ","<<kf_xerr(5)<< ","<<kf_xerr(6)<< ","<<kf_xerr(7)<<endl; // dump_vtl_file << "kf_xerr"<< ","<<kf_xerr(0)<< ","<<kf_xerr(1)<< ","<<kf_xerr(2)<< ","<<kf_xerr(3)<< ","<<kf_xerr(4)<< ","<<kf_xerr(5)<< ","<<kf_xerr(6)<< ","<<kf_xerr(7)<<endl;
dump_vtl_file << "kf_state"<< ","<<new_data.kf_state(0)<< ","<<new_data.kf_state(1)<< ","<<new_data.kf_state(2)<< ","<<new_data.kf_state(3)<< ","<<new_data.kf_state(4)<< ","<<new_data.kf_state(5)<< ","<<new_data.kf_state(6)<< ","<<new_data.kf_state(7)<<endl; // dump_vtl_file << "kf_state"<< ","<<new_data.kf_state(0)<< ","<<new_data.kf_state(1)<< ","<<new_data.kf_state(2)<< ","<<new_data.kf_state(3)<< ","<<new_data.kf_state(4)<< ","<<new_data.kf_state(5)<< ","<<new_data.kf_state(6)<< ","<<new_data.kf_state(7)<<endl;
dump_vtl_file << "rtklib_state"<< ","<<new_data.rx_p(0)<< ","<< new_data.rx_p(1)<<","<< new_data.rx_p[2]<<","<< new_data.rx_v(0)<<","<< new_data.rx_v(1)<<","<< new_data.rx_v(2)<<","<< new_data.rx_dts(0)<<","<< new_data.rx_dts(1)<<endl; // dump_vtl_file << "rtklib_state"<< ","<<new_data.rx_p(0)<< ","<< new_data.rx_p(1)<<","<< new_data.rx_p[2]<<","<< new_data.rx_v(0)<<","<< new_data.rx_v(1)<<","<< new_data.rx_v(2)<<","<< new_data.rx_dts(0)<<","<< new_data.rx_dts(1)<<endl;
dump_vtl_file.close(); // dump_vtl_file.close();
} // }
//new_data.pr_res.print(" pr RESIDUALS"); //new_data.pr_res.print(" pr RESIDUALS");
//!new_data.kf_state.print(" KF RTKlib STATE"); //!new_data.kf_state.print(" KF RTKlib STATE");
// cout << " KF posteriori STATE diference %100" << (kf_x-new_data.kf_state)/new_data.kf_state*100; // cout << " KF posteriori STATE diference %100" << (kf_x-new_data.kf_state)/new_data.kf_state*100;