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make clang-format happy

This commit is contained in:
M.A. Gomez 2023-07-11 17:01:46 +02:00
parent 1a81ba7290
commit aee1d7a25a
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GPG Key ID: 69D837A2B262D414
3 changed files with 13 additions and 8 deletions
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12
src/algorithms/PVT/libs/pvt_kf.cc
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@ -106,9 +106,15 @@ void Pvt_Kf::run_Kf(const arma::vec& p, const arma::vec& v, const arma::vec& res
try
{
// Measurement residuals
d_R(0,0) = res_p[0]; d_R(0,1) = res_p[3]; d_R(0,2) = res_p[5];
d_R(1,0) = res_p[3]; d_R(1,1) = res_p[1]; d_R(1,2) = res_p[4];
d_R(2,0) = res_p[5]; d_R(2,1) = res_p[4]; d_R(2,2) = res_p[2];
d_R(0, 0) = res_p[0];
d_R(0, 1) = res_p[3];
d_R(0, 2) = res_p[5];
d_R(1, 0) = res_p[3];
d_R(1, 1) = res_p[1];
d_R(1, 2) = res_p[4];
d_R(2, 0) = res_p[5];
d_R(2, 1) = res_p[4];
d_R(2, 2) = res_p[2];
// Measurement update
arma::vec z = arma::join_cols(p, v);

1
src/algorithms/PVT/libs/pvt_kf.h
View File

@ -67,4 +67,3 @@ private:
/** \} */
/** \} */
#endif // GNSS_SDR_Pvt_Kf_H

8
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -1549,12 +1549,12 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
arma::vec res_p = {pvt_sol.qr[0], pvt_sol.qr[1], pvt_sol.qr[2],
pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
d_pvt_kf.init_Kf(p,
v,
res_p,
kf_update_interval_s,
kf_update_interval_s,
d_conf.measures_ecef_pos_sd_m,
d_conf.measures_ecef_vel_sd_ms,
d_conf.system_ecef_pos_sd_m,
@ -1565,8 +1565,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
arma::vec res_p = {pvt_sol.qr[0], pvt_sol.qr[1], pvt_sol.qr[2],
pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
d_pvt_kf.run_Kf(p, v, res_p);
d_pvt_kf.get_pv_Kf(p, v);
pvt_sol.rr[0] = p[0]; // [m]