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Make clang-tidy happy

This commit is contained in:
Carles Fernandez 2023-07-05 19:37:35 +02:00
parent 4f9a9068e9
commit a29f52e2e4
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GPG Key ID: 4C583C52B0C3877D
6 changed files with 36 additions and 33 deletions
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21
src/algorithms/PVT/libs/pvt_kf.cc
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@ -1,5 +1,5 @@
/*!
* \file Pvt_Kf.cc
* \file pvt_kf.cc
* \brief Kalman Filter for Position and Velocity
* \author Javier Arribas, 2023. jarribas(at)cttc.es
*
@ -14,11 +14,13 @@
*
* -----------------------------------------------------------------------------
*/
#include "pvt_kf.h"
#include <glog/logging.h>
void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
void Pvt_Kf::init_kf(const arma::vec& p,
const arma::vec& v,
double solver_interval_s,
double measures_ecef_pos_sd_m,
double measures_ecef_vel_sd_ms,
@ -28,7 +30,6 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
// Kalman Filter class variables
const double Ti = solver_interval_s;
std::cout << "Ti=" << Ti << "\n";
d_F = {{1.0, 0.0, 0.0, Ti, 0.0, 0.0},
{0.0, 1.0, 0.0, 0.0, Ti, 0.0},
{0.0, 0.0, 1.0, 0.0, 0.0, Ti},
@ -38,7 +39,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
d_H = arma::eye(6, 6);
// measurement matrix static covariances
// measurement matrix static covariances
d_R = {{pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, pow(measures_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
@ -46,9 +47,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
{0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0), 0.0},
{0.0, 0.0, 0.0, 0.0, 0.0, pow(measures_ecef_vel_sd_ms, 2.0)}};
// system covariance matrix (static)
d_Q = {{pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0, 0.0},
{0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0, 0.0},
{0.0, 0.0, pow(system_ecef_pos_sd_m, 2.0), 0.0, 0.0, 0.0},
@ -71,6 +70,7 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
initialized = true;
DLOG(INFO) << "Ti: " << Ti;
DLOG(INFO) << "F: " << d_F;
DLOG(INFO) << "H: " << d_H;
DLOG(INFO) << "R: " << d_R;
@ -79,9 +79,10 @@ void Pvt_Kf::init_kf(arma::vec p, arma::vec v,
DLOG(INFO) << "x: " << d_x_old_old;
}
void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v);
{
// Kalman loop
// Kalman loop
// Prediction
d_x_new_old = d_F * d_x_old_old;
d_P_new_old = d_F * d_P_old_old * d_F.t() + d_Q;
@ -98,10 +99,6 @@ void Pvt_Kf::run_Kf(arma::vec p, arma::vec v)
d_P_old_old = d_P_new_new;
}
Pvt_Kf::Pvt_Kf()
{
initialized = false;
}
void Pvt_Kf::get_pvt(arma::vec& p, arma::vec& v)
{

14
src/algorithms/PVT/libs/pvt_kf.h
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@ -1,5 +1,5 @@
/*!
* \file Pvt_Kf.h
* \file pvt_kf.h
* \brief Kalman Filter for Position and Velocity
* \author Javier Arribas, 2023. jarribas(at)cttc.es
*
@ -33,18 +33,18 @@
class Pvt_Kf
{
public:
Pvt_Kf();
Pvt_Kf() = default;
virtual ~Pvt_Kf() = default;
void init_kf(arma::vec p, arma::vec v,
void init_kf(const arma::vec& p,
const arma::vec& v,
double solver_interval_s,
double measures_ecef_pos_sd_m,
double measures_ecef_vel_sd_ms,
double system_ecef_pos_sd_m,
double system_ecef_vel_sd_ms);
void run_Kf(arma::vec p, arma::vec v);
bool initialized;
void get_pvt(arma::vec &p, arma::vec &v);
void run_Kf(const arma::vec& p, const arma::vec& v);
void get_pvt(arma::vec& p, arma::vec& v);
bool initialized{false};
private:
// Kalman Filter class variables

5
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -51,11 +51,10 @@ Rtklib_Solver::Rtklib_Solver(const rtk_t &rtk,
bool flag_dump_to_mat,
Pvt_Conf conf) : d_dump_filename(dump_filename),
d_rtk(rtk),
d_conf(std::move(conf)),
d_type_of_rx(type_of_rx),
d_flag_dump_enabled(flag_dump_to_file),
d_flag_dump_mat_enabled(flag_dump_to_mat),
d_conf(conf)
d_flag_dump_mat_enabled(flag_dump_to_mat)
{
this->set_averaging_flag(false);

4
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -151,11 +151,11 @@ private:
rtk_t d_rtk{};
nav_t d_nav_data{};
Monitor_Pvt d_monitor_pvt{};
Pvt_Conf d_conf;
Pvt_Kf d_pvt_kf;
uint32_t d_type_of_rx;
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
Pvt_Conf d_conf;
Pvt_Kf d_pvt_kf;
};

22
src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc
View File

@ -1,6 +1,7 @@
/*!
* \file file_timestamp_signal_source.h
* \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
* \file file_timestamp_signal_source.cc
* \brief This class reads samples stored in a file and generate stream tags
* with its timestamp information stored in separated file
* \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------
@ -13,6 +14,7 @@
*
* -----------------------------------------------------------------------------
*/
#include "file_timestamp_signal_source.h"
#include "gnss_sdr_flags.h"
#include "gnss_sdr_string_literals.h"
@ -22,7 +24,9 @@
using namespace std::string_literals;
FileTimestampSignalSource::FileTimestampSignalSource(const ConfigurationInterface* configuration,
const std::string& role, unsigned int in_streams, unsigned int out_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams,
Concurrent_Queue<pmt::pmt_t>* queue)
: FileSourceBase(configuration, role, "File_Timestamp_Signal_Source"s, queue, "byte"s),
timestamp_file_(configuration->property(role + ".timestamp_filename"s, "../data/example_capture_timestamp.dat"s)),
@ -53,23 +57,23 @@ void FileTimestampSignalSource::create_file_source_hook()
int source_items_to_samples = 1;
bool is_complex = false;
if (item_type().compare("ibyte") == 0)
if (item_type() == "ibyte")
{
source_items_to_samples = 1;
}
else if (item_type().compare("byte") == 0)
else if (item_type() == "byte")
{
source_items_to_samples = 1;
}
else if (item_type().compare("short") == 0)
else if (item_type() == "short")
{
source_items_to_samples = 1;
}
else if (item_type().compare("ishort") == 0)
else if (item_type() == "ishort")
{
source_items_to_samples = 1;
}
else if (item_type().compare("gr_complex") == 0)
else if (item_type() == "gr_complex")
{
source_items_to_samples = 1;
is_complex = true;
@ -96,12 +100,14 @@ void FileTimestampSignalSource::create_file_source_hook()
DLOG(INFO) << "timestamp_block_(" << timestamp_block_->unique_id() << ")";
}
void FileTimestampSignalSource::pre_connect_hook(gr::top_block_sptr top_block)
{
top_block->connect(file_source(), 0, timestamp_block_, 0);
DLOG(INFO) << "connected file_source to timestamp_block_";
}
void FileTimestampSignalSource::pre_disconnect_hook(gr::top_block_sptr top_block)
{
top_block->disconnect(file_source(), 0, timestamp_block_, 0);

3
src/algorithms/signal_source/adapters/file_timestamp_signal_source.h
View File

@ -1,6 +1,7 @@
/*!
* \file file_timestamp_signal_source.h
* \brief This class reads samples stored in a file and generate stream tags with its timestamp information stored in separated file
* \brief This class reads samples stored in a file and generate stream tags
* with its timestamp information stored in separated file
* \author Javier Arribas, jarribas(at)cttc.es
*
* -----------------------------------------------------------------------------