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Some code cleaning

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@120 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez
2012-01-11 09:01:24 +00:00
parent dab517aff0
commit bc62d8d5be
16 changed files with 1052 additions and 979 deletions
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178
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@@ -40,26 +40,26 @@ using google::LogMessage;
gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels,std::string dump_filename, bool flag_dump_to_file)
{
// init empty ephemeris for all the available GNSS channels
d_nchannels=nchannels;
d_ephemeris=new gps_navigation_message[nchannels];
d_dump_filename=dump_filename;
d_flag_dump_enabled=flag_dump_to_file;
d_averaging_depth=0;
d_nchannels = nchannels;
d_ephemeris = new gps_navigation_message[nchannels];
d_dump_filename = dump_filename;
d_flag_dump_enabled = flag_dump_to_file;
d_averaging_depth = 0;
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled==true)
if (d_flag_dump_enabled == true)
{
if (d_dump_file.is_open()==false)
if (d_dump_file.is_open() == false)
{
try
{
d_dump_file.exceptions ( std::ifstream::failbit | std::ifstream::badbit );
d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit);
d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
std::cout<<"PVT lib dump enabled Log file: "<<d_dump_filename.c_str()<<std::endl;
std::cout << "PVT lib dump enabled Log file: "<< d_dump_filename.c_str() << std::endl;
}
catch (std::ifstream::failure e)
{
std::cout << "Exception opening PVT lib dump file "<<e.what()<<"\r\n";
std::cout << "Exception opening PVT lib dump file "<< e.what() << std::endl;
}
}
}
@@ -68,7 +68,7 @@ gps_l1_ca_ls_pvt::gps_l1_ca_ls_pvt(int nchannels,std::string dump_filename, bool
void gps_l1_ca_ls_pvt::set_averaging_depth(int depth)
{
d_averaging_depth=depth;
d_averaging_depth = depth;
}
@@ -100,16 +100,16 @@ arma::vec gps_l1_ca_ls_pvt::e_r_corr(double traveltime, arma::vec X_sat)
omegatau = OMEGA_EARTH_DOT * traveltime;
//--- Make a rotation matrix -----------------------------------------------
arma::mat R3=arma::zeros(3,3);
R3(0, 0)= cos(omegatau);
R3(0, 1)= sin(omegatau);
R3(0, 2)= 0.0;
R3(1, 0)=-sin(omegatau);
R3(1, 1)= cos(omegatau);
R3(1, 2)=0.0;
R3(2, 0)= 0.0;
R3(2, 1)= 0.0;
R3(2, 2)= 1;
arma::mat R3 = arma::zeros(3,3);
R3(0, 0) = cos(omegatau);
R3(0, 1) = sin(omegatau);
R3(0, 2) = 0.0;
R3(1, 0) = -sin(omegatau);
R3(1, 1) = cos(omegatau);
R3(1, 2) = 0.0;
R3(2, 0) = 0.0;
R3(2, 1) = 0.0;
R3(2, 2) = 1;
//--- Do the rotation ------------------------------------------------------
arma::vec X_sat_rot;
X_sat_rot = R3 * X_sat;
@@ -144,18 +144,18 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
arma::mat omc;
arma::mat az;
arma::mat el;
A=arma::zeros(nmbOfSatellites,4);
omc=arma::zeros(nmbOfSatellites,1);
az=arma::zeros(1,nmbOfSatellites);
el=arma::zeros(1,nmbOfSatellites);
A=arma::zeros(nmbOfSatellites, 4);
omc=arma::zeros(nmbOfSatellites, 1);
az=arma::zeros(1, nmbOfSatellites);
el=arma::zeros(1, nmbOfSatellites);
for (int i = 0; i < nmbOfSatellites; i++)
{
for (int j = 0; j < 4; j++)
{
A(i,j)=0.0; //Armadillo
A(i, j) = 0.0; //Armadillo
}
omc(i, 0)=0.0;
az(0, i)=0.0;
omc(i, 0) = 0.0;
az(0, i)= 0.0;
}
el = az;
@@ -174,7 +174,7 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
if (iter == 0)
{
//--- Initialize variables at the first iteration --------------
Rot_X=X.col(i); //Armadillo
Rot_X = X.col(i); //Armadillo
trop = 0.0;
}
else
@@ -194,10 +194,10 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
//--- Construct the A matrix ---------------------------------------
//Armadillo
A(i,0)=(-(Rot_X(0) - pos(0))) / obs(i);
A(i,1)=(-(Rot_X(1) - pos(1))) / obs(i);
A(i,2)=(-(Rot_X(2) - pos(2))) / obs(i);
A(i,3)=1.0;
A(i,0) = (-(Rot_X(0) - pos(0))) / obs(i);
A(i,1) = (-(Rot_X(1) - pos(1))) / obs(i);
A(i,2) = (-(Rot_X(2) - pos(2))) / obs(i);
A(i,3) = 1.0;
}
@@ -208,7 +208,7 @@ arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma
//}
//--- Find position update ---------------------------------------------
x = arma::solve(w*A,w*omc); // Armadillo
x = arma::solve(w*A, w*omc); // Armadillo
//--- Apply position update --------------------------------------------
pos = pos + x;
@@ -221,9 +221,9 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
{
std::map<int,gnss_pseudorange>::iterator gnss_pseudoranges_iter;
arma::mat W=arma::eye(d_nchannels,d_nchannels); //channels weights matrix
arma::vec obs=arma::zeros(d_nchannels); // pseudoranges observation vector
arma::mat satpos=arma::zeros(3,d_nchannels); //satellite positions matrix
arma::mat W = arma::eye(d_nchannels,d_nchannels); //channels weights matrix
arma::vec obs = arma::zeros(d_nchannels); // pseudoranges observation vector
arma::mat satpos = arma::zeros(3,d_nchannels); //satellite positions matrix
int GPS_week = 0;
double GPS_corrected_time = 0;
@@ -232,15 +232,15 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
int valid_obs=0; //valid observations counter
for (int i=0; i<d_nchannels; i++)
{
if (d_ephemeris[i].satellite_validation()==true)
if (d_ephemeris[i].satellite_validation() == true)
{
gnss_pseudoranges_iter=gnss_pseudoranges_map.find(d_ephemeris[i].i_satellite_PRN);
if (gnss_pseudoranges_iter!=gnss_pseudoranges_map.end())
gnss_pseudoranges_iter = gnss_pseudoranges_map.find(d_ephemeris[i].i_satellite_PRN);
if (gnss_pseudoranges_iter != gnss_pseudoranges_map.end())
{
/*!
* \todo Place here the satellite CN0 (power level, or weight factor)
*/
W(i,i)=1;
W(i,i) = 1;
// compute the GPS master clock
// d_ephemeris[i].master_clock(GPS_current_time); ?????
@@ -248,31 +248,31 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
GPS_corrected_time = d_ephemeris[i].sv_clock_correction(GPS_current_time);
GPS_week = d_ephemeris[i].i_GPS_week;
utc =d_ephemeris[i].utc_time(GPS_corrected_time);
utc = d_ephemeris[i].utc_time(GPS_corrected_time);
// compute the satellite current ECEF position
d_ephemeris[i].satellitePosition(GPS_corrected_time);
satpos(0,i)=d_ephemeris[i].d_satpos_X;
satpos(1,i)=d_ephemeris[i].d_satpos_Y;
satpos(2,i)=d_ephemeris[i].d_satpos_Z;
LOG_AT_LEVEL(INFO)<<"ECEF satellite SV ID="<<d_ephemeris[i].i_satellite_PRN<<" X="<<d_ephemeris[i].d_satpos_X
<<" [m] Y="<<d_ephemeris[i].d_satpos_Y<<" [m] Z="<<d_ephemeris[i].d_satpos_Z<<" [m]\r\n";
obs(i)=gnss_pseudoranges_iter->second.pseudorange_m+d_ephemeris[i].d_satClkCorr*GPS_C_m_s;
satpos(0,i) = d_ephemeris[i].d_satpos_X;
satpos(1,i) = d_ephemeris[i].d_satpos_Y;
satpos(2,i) = d_ephemeris[i].d_satpos_Z;
LOG_AT_LEVEL(INFO) << "ECEF satellite SV ID=" << d_ephemeris[i].i_satellite_PRN <<" X=" << d_ephemeris[i].d_satpos_X
<< " [m] Y=" << d_ephemeris[i].d_satpos_Y << " [m] Z=" << d_ephemeris[i].d_satpos_Z << " [m]" << std::endl;
obs(i) = gnss_pseudoranges_iter->second.pseudorange_m + d_ephemeris[i].d_satClkCorr*GPS_C_m_s;
valid_obs++;
}
else
{
// no valid pseudorange for the current channel
W(i,i)=0; // channel de-activated
obs(i)=1; // to avoid algorithm problems (divide by zero)
W(i,i) = 0; // channel de-activated
obs(i) = 1; // to avoid algorithm problems (divide by zero)
}
}
else
{
// no valid ephemeris for the current channel
W(i,i)=0; // channel de-activated
obs(i)=1; // to avoid algorithm problems (divide by zero)
W(i,i) = 0; // channel de-activated
obs(i) = 1; // to avoid algorithm problems (divide by zero)
}
}
std::cout<<"PVT: valid observations="<<valid_obs<<std::endl;
@@ -280,43 +280,43 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
{
arma::vec mypos;
mypos=leastSquarePos(satpos,obs,W);
LOG_AT_LEVEL(INFO) << "Position at TOW="<<GPS_current_time<<" in ECEF (X,Y,Z) = " << mypos << std::endl;
LOG_AT_LEVEL(INFO) << "Position at TOW="<< GPS_current_time << " in ECEF (X,Y,Z) = " << mypos << std::endl;
cart2geo(mypos(0), mypos(1), mypos(2), 4);
// Compute UTC time and print PVT solution
boost::posix_time::time_duration t = boost::posix_time::seconds(utc + 604800*(double)GPS_week);
boost::posix_time::ptime p_time(boost::gregorian::date(1999,8,22),t);
std::cout << "Position at "<<boost::posix_time::to_simple_string(p_time)<<" is Lat = " << d_latitude_d << " [deg] Long = "<< d_longitude_d <<" [deg] Height= "<<d_height_m<<" [m]" <<std::endl;
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
std::cout << "Position at " << boost::posix_time::to_simple_string(p_time) <<" is Lat = " << d_latitude_d << " [deg] Long = " << d_longitude_d << " [deg] Height= " << d_height_m << " [m]" << std::endl;
// ######## LOG FILE #########
if(d_flag_dump_enabled==true)
if(d_flag_dump_enabled == true)
{
// MULTIPLEXED FILE RECORDING - Record results to file
try
{
double tmp_double;
// PVT GPS time
tmp_double=GPS_current_time;
tmp_double = GPS_current_time;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position East [m]
tmp_double=mypos(0);
tmp_double = mypos(0);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position North [m]
tmp_double=mypos(1);
tmp_double = mypos(1);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// ECEF User Position Up [m]
tmp_double=mypos(2);
tmp_double = mypos(2);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// User clock offset [s]
tmp_double=mypos(3);
tmp_double = mypos(3);
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Latitude [deg]
tmp_double=d_latitude_d;
tmp_double = d_latitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Longitude [deg]
tmp_double=d_longitude_d;
tmp_double = d_longitude_d;
d_dump_file.write((char*)&tmp_double, sizeof(double));
// GEO user position Height [m]
tmp_double=d_height_m;
tmp_double = d_height_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
}
catch (std::ifstream::failure e)
@@ -326,9 +326,9 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
}
// MOVING AVERAGE PVT
if (flag_averaging==true)
if (flag_averaging == true)
{
if (d_hist_longitude_d.size()==(unsigned int)d_averaging_depth)
if (d_hist_longitude_d.size() == (unsigned int)d_averaging_depth)
{
// Pop oldest value
d_hist_longitude_d.pop_back();
@@ -339,18 +339,18 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
d_hist_latitude_d.push_front(d_latitude_d);
d_hist_height_m.push_front(d_height_m);
d_avg_latitude_d=0;
d_avg_longitude_d=0;
d_avg_height_m=0;
for (unsigned int i=0;i<d_hist_longitude_d.size();i++)
d_avg_latitude_d = 0;
d_avg_longitude_d = 0;
d_avg_height_m = 0;
for (unsigned int i=0; i<d_hist_longitude_d.size(); i++)
{
d_avg_latitude_d=d_avg_latitude_d+d_hist_latitude_d.at(i);
d_avg_longitude_d=d_avg_longitude_d+d_hist_longitude_d.at(i);
d_avg_height_m=d_avg_height_m+d_hist_height_m.at(i);
d_avg_latitude_d = d_avg_latitude_d + d_hist_latitude_d.at(i);
d_avg_longitude_d = d_avg_longitude_d + d_hist_longitude_d.at(i);
d_avg_height_m = d_avg_height_m + d_hist_height_m.at(i);
}
d_avg_latitude_d=d_avg_latitude_d/(double)d_averaging_depth;
d_avg_longitude_d=d_avg_longitude_d/(double)d_averaging_depth;
d_avg_height_m=d_avg_height_m/(double)d_averaging_depth;
d_avg_latitude_d = d_avg_latitude_d / (double)d_averaging_depth;
d_avg_longitude_d = d_avg_longitude_d / (double)d_averaging_depth;
d_avg_height_m = d_avg_height_m / (double)d_averaging_depth;
return true; //indicates that the returned position is valid
}
else
@@ -361,9 +361,9 @@ bool gps_l1_ca_ls_pvt::get_PVT(std::map<int,gnss_pseudorange> gnss_pseudoranges_
d_hist_latitude_d.push_front(d_latitude_d);
d_hist_height_m.push_front(d_height_m);
d_avg_latitude_d=d_latitude_d;
d_avg_longitude_d=d_longitude_d;
d_avg_height_m=d_height_m;
d_avg_latitude_d = d_latitude_d;
d_avg_longitude_d = d_longitude_d;
d_avg_height_m = d_height_m;
return false;//indicates that the returned position is not valid yet
// output the average, although it will not have the full historic available
// d_avg_latitude_d=0;
@@ -411,11 +411,11 @@ void gps_l1_ca_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selec
double lambda;
lambda = atan2(Y,X);
double ex2;
ex2 = (2-f[elipsoid_selection])*f[elipsoid_selection]/((1-f[elipsoid_selection])*(1-f[elipsoid_selection]));
ex2 = (2 - f[elipsoid_selection]) * f[elipsoid_selection] / ((1 - f[elipsoid_selection])*(1 -f[elipsoid_selection]));
double c;
c = a[elipsoid_selection]*sqrt(1+ex2);
c = a[elipsoid_selection] * sqrt(1+ex2);
double phi;
phi = atan(Z/((sqrt(X*X+Y*Y)*(1-(2-f[elipsoid_selection]))*f[elipsoid_selection])));
phi = atan(Z / ((sqrt(X*X + Y*Y)*(1 - (2 - f[elipsoid_selection])) * f[elipsoid_selection])));
double h = 0.1;
double oldh = 0;
@@ -424,19 +424,19 @@ void gps_l1_ca_ls_pvt::cart2geo(double X, double Y, double Z, int elipsoid_selec
do
{
oldh = h;
N = c/sqrt(1+ex2*(cos(phi)*cos(phi)));
phi = atan(Z/((sqrt(X*X+Y*Y)*(1-(2-f[elipsoid_selection])*f[elipsoid_selection]*N/(N+h)))));
h = sqrt(X*X+Y*Y)/cos(phi)-N;
N = c / sqrt(1 + ex2 * (cos(phi) * cos(phi)));
phi = atan(Z / ((sqrt(X*X + Y*Y) * (1 - (2 -f[elipsoid_selection]) * f[elipsoid_selection] *N / (N + h) ))));
h = sqrt(X*X + Y*Y) / cos(phi) - N;
iterations = iterations + 1;
if (iterations > 100)
{
std::cout<<"Failed to approximate h with desired precision. h-oldh= "<<h-oldh<<std::endl;
std::cout << "Failed to approximate h with desired precision. h-oldh= " << h-oldh << std::endl;
break;
}
}
while (abs(h-oldh) > 1.0e-12);
d_latitude_d = phi*180.0/GPS_PI;
d_longitude_d = lambda*180/GPS_PI;
while (abs(h - oldh) > 1.0e-12);
d_latitude_d = phi * 180.0 / GPS_PI;
d_longitude_d = lambda * 180 / GPS_PI;
d_height_m = h;
}

63
src/algorithms/PVT/libs/kml_printer.cc
View File

@@ -45,31 +45,31 @@ bool kml_printer::set_headers(std::string filename)
kml_file.open(filename.c_str());
if (kml_file.is_open())
{
DLOG(INFO)<<"KML printer writing on "<<filename.c_str();
kml_file<<"<?xml version=\"1.0\" encoding=\"UTF-8\"?>\r\n"
<<"<kml xmlns=\"http://www.opengis.net/kml/2.2\">\r\n"
<<" <Document>\r\n"
<<" <name>GNSS Track</name>\r\n"
<<" <description>GNSS-SDR Receiver position log file created at "<<asctime (timeinfo)
<<" </description>\r\n"
<<"<Style id=\"yellowLineGreenPoly\">\r\n"
<<" <LineStyle>\r\n"
<<" <color>7f00ffff</color>\r\n"
<<" <width>1</width>\r\n"
<<" </LineStyle>\r\n"
<<"<PolyStyle>\r\n"
<<" <color>7f00ff00</color>\r\n"
<<"</PolyStyle>\r\n"
<<"</Style>\r\n"
<<"<Placemark>\r\n"
<<"<name>GNSS-SDR PVT</name>\r\n"
<<"<description>GNSS-SDR position log</description>\r\n"
<<"<styleUrl>#yellowLineGreenPoly</styleUrl>\r\n"
<<"<LineString>\r\n"
<<"<extrude>0</extrude>\r\n"
<<"<tessellate>1</tessellate>\r\n"
<<"<altitudeMode>absolute</altitudeMode>\r\n"
<<"<coordinates>\r\n";
DLOG(INFO) << "KML printer writing on " << filename.c_str();
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\">" << std::endl
<< " <Document>" << std::endl
<< " <name>GNSS Track</name>" << std::endl
<< " <description>GNSS-SDR Receiver position log file created at " << asctime (timeinfo)
<< " </description>" << std::endl
<< "<Style id=\"yellowLineGreenPoly\">" << std::endl
<< " <LineStyle>" << std::endl
<< " <color>7f00ffff</color>" << std::endl
<< " <width>1</width>" << std::endl
<< " </LineStyle>" << std::endl
<< "<PolyStyle>" << std::endl
<< " <color>7f00ff00</color>" << std::endl
<< "</PolyStyle>" << std::endl
<< "</Style>" << std::endl
<< "<Placemark>" << std::endl
<< "<name>GNSS-SDR PVT</name>" << std::endl
<< "<description>GNSS-SDR position log</description>" << std::endl
<< "<styleUrl>#yellowLineGreenPoly</styleUrl>" << std::endl
<< "<LineString>" << std::endl
<< "<extrude>0</extrude>" << std::endl
<< "<tessellate>1</tessellate>" << std::endl
<< "<altitudeMode>absolute</altitudeMode>" << std::endl
<< "<coordinates>" << std::endl;
return true;
}
else
@@ -84,7 +84,7 @@ bool kml_printer::print_position(gps_l1_ca_ls_pvt* position,bool print_average_v
double latitude;
double longitude;
double height;
if (print_average_values==false)
if (print_average_values == false)
{
latitude=position->d_latitude_d;
longitude=position->d_longitude_d;
@@ -96,9 +96,10 @@ bool kml_printer::print_position(gps_l1_ca_ls_pvt* position,bool print_average_v
longitude=position->d_avg_longitude_d;
height=position->d_avg_height_m;
}
if (kml_file.is_open())
{
kml_file<<longitude<<","<<latitude<<","<<height<<"\r\n";
kml_file << longitude << "," << latitude << "," << height << std::endl;
return true;
}
else
@@ -111,10 +112,10 @@ bool kml_printer::close_file()
{
if (kml_file.is_open())
{
kml_file<<"</coordinates>\r\n"
<<"</LineString>\r\n"
<<"</Placemark>\r\n"
<<"</Document>\r\n"
kml_file<<"</coordinates>" << std::endl
<<"</LineString>" << std::endl
<<"</Placemark>" << std::endl
<<"</Document>" << std::endl
<<"</kml>";
kml_file.close();
return true;

18
src/algorithms/PVT/libs/rinex_printer.cc
View File

@@ -264,12 +264,12 @@ std::string Rinex_Printer::getLocalTime()
std::stringstream strmHour;
int utc_hour = pt_tm.tm_hour;
if (utc_hour<10) strmHour << "0"; // two digits for hours
if (utc_hour < 10) strmHour << "0"; // two digits for hours
strmHour << utc_hour;
std::stringstream strmMin;
int utc_minute = pt_tm.tm_min;
if (utc_minute<10) strmMin << "0"; // two digits for minutes
if (utc_minute < 10) strmMin << "0"; // two digits for minutes
strmMin << utc_minute;
if (version == 2)
@@ -371,7 +371,7 @@ void Rinex_Printer::rinex_nav_header(std::ofstream& out, gps_navigation_message
// -------- Line COMMENT
line.clear();
line += Rinex_Printer::leftJustify("See http://gnss-sdr.org", 60);
line += Rinex_Printer::leftJustify("COMMENT",20);
line += Rinex_Printer::leftJustify("COMMENT", 20);
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
@@ -547,7 +547,7 @@ void Rinex_Printer::log_rinex_nav(std::ofstream& out, gps_navigation_message nav
line += satelliteSystem["GPS"];
if (nav_msg.i_satellite_PRN < 10) line += std::string("0");
line += boost::lexical_cast<std::string>(nav_msg.i_satellite_PRN);
std::string year (timestring,0,4);
std::string year (timestring, 0, 4);
line += std::string(1, ' ');
line += year;
line += std::string(1, ' ');
@@ -932,13 +932,13 @@ void Rinex_Printer::rinex_obs_header(std::ofstream& out, gps_navigation_message
std::string hour (timestring, 9, 2);
std::string minutes (timestring, 11, 2);
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
double seconds = fmod(utc_t,60);
double seconds = fmod(utc_t, 60);
line += Rinex_Printer::rightJustify(year, 6);
line += Rinex_Printer::rightJustify(month, 6);
line += Rinex_Printer::rightJustify(day, 6);
line += Rinex_Printer::rightJustify(hour, 6);
line += Rinex_Printer::rightJustify(minutes, 6);
line += Rinex_Printer::rightJustify(asString(seconds,7), 13);
line += Rinex_Printer::rightJustify(asString(seconds, 7), 13);
line += Rinex_Printer::rightJustify(std::string("GPS"), 8);
line += std::string(9, ' ');
line += Rinex_Printer::leftJustify("TIME OF FIRST OBS", 20);
@@ -965,7 +965,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, gps_navigation_message nav
if (version == 2)
{
line += "OBSERVATION DATA FILE FOR VERSION 2.11 STILL NOT IMPLEMENTED";
line += std::string(80-line.size(), ' ');
line += std::string(80 - line.size(), ' ');
Rinex_Printer::lengthCheck(line);
out << line << std::endl;
}
@@ -995,7 +995,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, gps_navigation_message nav
line += std::string(1, ' ');
double utc_t = nav_msg.utc_time(nav_msg.sv_clock_correction(nav_msg.d_TOW));
line += Rinex_Printer::asString(fmod(utc_t,60), 7);
line += Rinex_Printer::asString(fmod(utc_t, 60), 7);
line += std::string(2, ' ');
// Epoch flag 0: OK 1: power failure between previous and current epoch <1: Special event
line += std::string(1, '0');
@@ -1051,7 +1051,7 @@ void Rinex_Printer::log_rinex_obs(std::ofstream& out, gps_navigation_message nav
{
lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(ssi), 1);
}
if (lineObs.size()<80) lineObs += std::string(80 - lineObs.size(), ' ');
if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
out << lineObs << std::endl;
}
}