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https://github.com/gnss-sdr/gnss-sdr
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make clang-format happy
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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
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try
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{
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// Measurement residuals
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d_R(0,0) = res_p[0]; d_R(0,1) = res_p[3]; d_R(0,2) = res_p[5];
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d_R(1,0) = res_p[3]; d_R(1,1) = res_p[1]; d_R(1,2) = res_p[4];
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d_R(2,0) = res_p[5]; d_R(2,1) = res_p[4]; d_R(2,2) = res_p[2];
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d_R(0, 0) = res_p[0];
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d_R(0, 1) = res_p[3];
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d_R(0, 2) = res_p[5];
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d_R(1, 0) = res_p[3];
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d_R(1, 1) = res_p[1];
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d_R(1, 2) = res_p[4];
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d_R(2, 0) = res_p[5];
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d_R(2, 1) = res_p[4];
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d_R(2, 2) = res_p[2];
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// Measurement update
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arma::vec z = arma::join_cols(p, v);
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@ -67,4 +67,3 @@ private:
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/** \} */
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/** \} */
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#endif // GNSS_SDR_Pvt_Kf_H
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@ -1549,12 +1549,12 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
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arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
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arma::vec res_p = {pvt_sol.qr[0], pvt_sol.qr[1], pvt_sol.qr[2],
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pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
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pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
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d_pvt_kf.init_Kf(p,
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v,
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res_p,
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kf_update_interval_s,
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kf_update_interval_s,
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d_conf.measures_ecef_pos_sd_m,
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d_conf.measures_ecef_vel_sd_ms,
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d_conf.system_ecef_pos_sd_m,
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@ -1565,8 +1565,8 @@ bool Rtklib_Solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
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arma::vec p = {pvt_sol.rr[0], pvt_sol.rr[1], pvt_sol.rr[2]};
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arma::vec v = {pvt_sol.rr[3], pvt_sol.rr[4], pvt_sol.rr[5]};
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arma::vec res_p = {pvt_sol.qr[0], pvt_sol.qr[1], pvt_sol.qr[2],
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pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
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pvt_sol.qr[3], pvt_sol.qr[4], pvt_sol.qr[5]};
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d_pvt_kf.run_Kf(p, v, res_p);
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d_pvt_kf.get_pv_Kf(p, v);
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pvt_sol.rr[0] = p[0]; // [m]
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