[hamradio-commits] [gnss-sdr] 106/251: passing vectors and matrices by reference instead of by value
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Wed Sep 2 00:22:40 UTC 2015
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carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit dea2f74266d4594dc3e9b50fd29f6945ddeb85ad
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Tue May 19 22:09:30 2015 +0200
passing vectors and matrices by reference instead of by value
---
src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc | 6 +++---
src/algorithms/PVT/libs/galileo_e1_ls_pvt.h | 6 +++---
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc | 6 +++---
src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h | 6 +++---
src/algorithms/PVT/libs/hybrid_ls_pvt.cc | 18 +++++++++---------
src/algorithms/PVT/libs/hybrid_ls_pvt.h | 6 +++---
6 files changed, 24 insertions(+), 24 deletions(-)
diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
index 0decedc..f19f2c6 100644
--- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.cc
@@ -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
diff --git a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.h b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.h
index 8bd0bdc..1119a22 100644
--- a/src/algorithms/PVT/libs/galileo_e1_ls_pvt.h
+++ b/src/algorithms/PVT/libs/galileo_e1_ls_pvt.h
@@ -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:
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
index 7c9e7a9..6f56c08 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.cc
@@ -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
diff --git a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
index 207a0cf..c7e3bab 100644
--- a/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
+++ b/src/algorithms/PVT/libs/gps_l1_ca_ls_pvt.h
@@ -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:
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
index 84b6ca3..72d0fd4 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.cc
@@ -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
diff --git a/src/algorithms/PVT/libs/hybrid_ls_pvt.h b/src/algorithms/PVT/libs/hybrid_ls_pvt.h
index 2611213..a989532 100644
--- a/src/algorithms/PVT/libs/hybrid_ls_pvt.h
+++ b/src/algorithms/PVT/libs/hybrid_ls_pvt.h
@@ -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:
--
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