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passing vectors and matrices by reference instead of by value

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This commit is contained in:
Carles Fernandez 2015-05-19 22:09:30 +02:00
parent 48435735ba
commit dea2f74266
6 changed files with 24 additions and 24 deletions
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6
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
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@ -79,7 +79,7 @@ galileo_e1_ls_pvt::~galileo_e1_ls_pvt()
}
arma::vec galileo_e1_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
arma::vec galileo_e1_ls_pvt::rotateSatellite(double traveltime, const arma::vec & X_sat)
{
/*
* Returns rotated satellite ECEF coordinates due to Earth
@ -116,7 +116,7 @@ arma::vec galileo_e1_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
}
arma::vec galileo_e1_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w)
arma::vec galileo_e1_ls_pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w)
{
/* Computes the Least Squares Solution.
* Inputs:
@ -660,7 +660,7 @@ void galileo_e1_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double
}
void galileo_e1_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx)
void galileo_e1_ls_pvt::topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx)
{
/* Transformation of vector dx into topocentric coordinate
system with origin at x

6
src/algorithms/PVT/libs/galileo_e1_ls_pvt.h
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@ -58,9 +58,9 @@
class galileo_e1_ls_pvt
{
private:
arma::vec leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w);
arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w);
arma::vec rotateSatellite(double traveltime, const arma::vec & X_sat);
void topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx);
void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
void tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
public:

6
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
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@ -99,7 +99,7 @@ gps_l1_ca_ls_pvt::~gps_l1_ca_ls_pvt()
}
arma::vec gps_l1_ca_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
arma::vec gps_l1_ca_ls_pvt::rotateSatellite(double traveltime, const arma::vec & X_sat)
{
/*
* Returns rotated satellite ECEF coordinates due to Earth
@ -136,7 +136,7 @@ arma::vec gps_l1_ca_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
}
arma::vec gps_l1_ca_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w)
arma::vec gps_l1_ca_ls_pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w)
{
/* Computes the Least Squares Solution.
* Inputs:
@ -655,7 +655,7 @@ void gps_l1_ca_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a
}
void gps_l1_ca_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx)
void gps_l1_ca_ls_pvt::topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx)
{
/* Transformation of vector dx into topocentric coordinate
system with origin at x

6
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
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@ -61,9 +61,9 @@
class gps_l1_ca_ls_pvt
{
private:
arma::vec leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w);
arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w);
arma::vec rotateSatellite(double traveltime, const arma::vec & X_sat);
void topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx);
void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
void tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
public:

18
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
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@ -81,7 +81,7 @@ hybrid_ls_pvt::~hybrid_ls_pvt()
}
arma::vec hybrid_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
arma::vec hybrid_ls_pvt::rotateSatellite(double traveltime, const arma::vec & X_sat)
{
/*
* Returns rotated satellite ECEF coordinates due to Earth
@ -118,7 +118,7 @@ arma::vec hybrid_ls_pvt::rotateSatellite(double traveltime, arma::vec X_sat)
}
arma::vec hybrid_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w)
arma::vec hybrid_ls_pvt::leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w)
{
/* Computes the Least Squares Solution.
* Inputs:
@ -190,7 +190,7 @@ arma::vec hybrid_ls_pvt::leastSquarePos(arma::mat satpos, arma::vec obs, arma::m
togeod(&dphi, &dlambda, &h, 6378137.0, 298.257223563, pos(0), pos(1), pos(2));
//--- Find delay due to troposphere (in meters)
tropo(&trop, sin(d_visible_satellites_El[i] * GALILEO_PI/180.0), h/1000, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
tropo(&trop, sin(d_visible_satellites_El[i] * GALILEO_PI/180.0), h / 1000.0, 1013.0, 293.0, 50.0, 0.0, 0.0, 0.0);
if(trop > 50.0 ) trop = 0.0;
}
}
@ -642,17 +642,17 @@ void hybrid_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a, d
*h = 0;
double tolsq = 1.e-10; // tolerance to accept convergence
int maxit = 10; // max number of iterations
double rtd = 180/GPS_PI;
double rtd = 180.0 / GPS_PI;
// compute square of eccentricity
double esq;
if (finv < 1.0E-20)
{
esq = 0;
esq = 0.0;
}
else
{
esq = (2 - 1/finv) / finv;
esq = (2.0 - 1.0 / finv) / finv;
}
// first guess
@ -695,14 +695,14 @@ void hybrid_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a, d
return;
}
*h = r - a*(1 - sinphi*sinphi/finv);
*h = r - a*(1.0 - sinphi*sinphi/finv);
// iterate
double cosphi;
double N_phi;
double dP;
double dZ;
double oneesq = 1 - esq;
double oneesq = 1.0 - esq;
for (int i = 0; i < maxit; i++)
{
@ -734,7 +734,7 @@ void hybrid_ls_pvt::togeod(double *dphi, double *dlambda, double *h, double a, d
}
void hybrid_ls_pvt::topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx)
void hybrid_ls_pvt::topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx)
{
/* Transformation of vector dx into topocentric coordinate
system with origin at x

6
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -62,9 +62,9 @@
class hybrid_ls_pvt
{
private:
arma::vec leastSquarePos(arma::mat satpos, arma::vec obs, arma::mat w);
arma::vec rotateSatellite(double traveltime, arma::vec X_sat);
void topocent(double *Az, double *El, double *D, arma::vec x, arma::vec dx);
arma::vec leastSquarePos(const arma::mat & satpos, const arma::vec & obs, const arma::mat & w);
arma::vec rotateSatellite(double traveltime, const arma::vec & X_sat);
void topocent(double *Az, double *El, double *D, const arma::vec & x, const arma::vec & dx);
void togeod(double *dphi, double *dlambda, double *h, double a, double finv, double X, double Y, double Z);
void tropo(double *ddr_m, double sinel, double hsta_km, double p_mb, double t_kel, double hum, double hp_km, double htkel_km, double hhum_km);
public: