common.hpp File Reference

Data Structures
struct	Average
struct	descope
struct	Dops
struct	IteratorType< OUTTYPE, INTYPE, VOIDTYPE >
	An iterator that trys to cast elements to the desired type before using them. More...
struct	MapIteratorType< OUTTYPE, INTYPE, KEYTYPE >
	An iterator that trys to cast elements to the desired type before using them. More...
struct	Typer< ITERATOR, TYPE, KEYTYPE, INTYPE >
	An object just for templating the other functions without over-verbosity. More...

Functions
template<typename T >
constexpr T	SQR (T x)
template<typename T >
constexpr T	POW4 (T x)
template<typename T >
constexpr T	SQRT (T x)
template<typename T >
constexpr T	ROUND (T x)
template<typename T >
constexpr T	SGN (T x)
void	lowPassFilter (Average &avg, double meas, double procNoise, double measVar=1)
	Low pass filter values.
void	wrapPlusMinusPi (double &angle)
	Wrap angle between (-pi, pi].
void	wrap2Pi (double &angle)
	Wrap angle between [0, 2pi)
double	geodist (Vector3d &rs, Vector3d &rr, Vector3d &e)
	geometric distance compute geometric distance and receiver-to-satellite unit vector notes : distance includes sagnac effect correction
double	sagnac (Vector3d &rSource, Vector3d &rDest, Vector3d vel=Vector3d::Zero())
void	satazel (const VectorPos &pos, const VectorEcef &e, AzEl &azel)
	satellite azimuth/elevation angle
unsigned int	crc24q (const unsigned char *buff, int len)
	crc-24q parity compute crc-24q parity for sbas, rtcm3 see reference [2] A.4.3.3 Parity
Dops	dopCalc (const vector< AzEl > &azels)
	compute DOP (dilution of precision)
bool	satFreqs (E_Sys sys, E_FType &frq1, E_FType &frq2, E_FType &frq3)
int	sisaToSva (double sisa)
	Galileo SISA value (m) to SISA index.
double	svaToSisa (int sva)
	Galileo SISA index to SISA value (m) EUROPEAN GNSS (GALILEO) OPEN SERVICE SIGNAL-IN-SPACE INTERFACE CONTROL DOCUMENT Issue 2.0, January 2021 See Section, 5.1.12.
int	uraToSva (double ura)
	URA value (m) to URA index.
double	svaToUra (int sva)
	URA index to URA value (m) GLOBAL POSITIONING SYSTEM STANDARD POSITIONING SERVICE SIGNAL SPECIFICATION 2nd Ed, June 2,1995 see section - 2.5.3 User Range Accuracy.
void	updateLamMap (const GTime &time, SatPos &obs)
template<typename OUT , typename KEYTYPE , typename VALUE >
Typer< MapIteratorType, OUT, KEYTYPE, multimap< KEYTYPE, VALUE > >	only (multimap< KEYTYPE, VALUE > &in)
	Use only a subset of a map that can be cast to a desired type.

Function Documentation

crc24q()

unsigned int crc24q	(	const unsigned char *	buff,
		int	len )

crc-24q parity compute crc-24q parity for sbas, rtcm3 see reference [2] A.4.3.3 Parity

Parameters

buff	data
len	data length (bytes)

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dopCalc()

Dops dopCalc

(

const vector< AzEl > &

azels

)

compute DOP (dilution of precision)

Parameters

azels

satellite azimuth/elevation angles

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geodist()

double geodist	(	Vector3d &	rs,
		Vector3d &	rr,
		Vector3d &	e )

geometric distance compute geometric distance and receiver-to-satellite unit vector notes : distance includes sagnac effect correction

Parameters

rs	satellilte position (ecef at transmission) (m)
rr	receiver position (ecef at reception) (m)
e	line-of-sight vector (ecef)

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lowPassFilter()

void lowPassFilter	(	Average &	avg,
		double	meas,
		double	procNoise,
		double	measVar = 1 )

Low pass filter values.

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only()

template<typename OUT , typename KEYTYPE , typename VALUE >

Typer< MapIteratorType, OUT, KEYTYPE, multimap< KEYTYPE, VALUE > > only

(

multimap< KEYTYPE, VALUE > &

in

)

Use only a subset of a map that can be cast to a desired type.

POW4()

template<typename T >

T POW4 ( T x )

constexpr

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ROUND()

template<typename T >

T ROUND ( T x )

constexpr

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sagnac()

double sagnac	(	Vector3d &	rSource,
		Vector3d &	rDest,
		Vector3d	vel = Vector3d::Zero() )

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satazel()

void satazel	(	const VectorPos &	pos,
		const VectorEcef &	e,
		AzEl &	azel )

satellite azimuth/elevation angle

Parameters

pos	geodetic position
e	receiver-to-satellilte unit vector
azel	azimuth/elevation {az,el} (rad)

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satFreqs()

bool satFreqs	(	E_Sys	sys,
		E_FType &	frq1,
		E_FType &	frq2,
		E_FType &	frq3 )

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SGN()

template<typename T >

T SGN ( T x )

constexpr

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sisaToSva()

int sisaToSva

(

double

sisa

)

Galileo SISA value (m) to SISA index.

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SQR()

template<typename T >

T SQR ( T x )

constexpr

SQRT()

template<typename T >

T SQRT ( T x )

constexpr

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svaToSisa()

double svaToSisa

(

int

sva

)

Galileo SISA index to SISA value (m) EUROPEAN GNSS (GALILEO) OPEN SERVICE SIGNAL-IN-SPACE INTERFACE CONTROL DOCUMENT Issue 2.0, January 2021 See Section, 5.1.12.

Signal In Space Accuracy (SISA)

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svaToUra()

double svaToUra

(

int

sva

)

URA index to URA value (m) GLOBAL POSITIONING SYSTEM STANDARD POSITIONING SERVICE SIGNAL SPECIFICATION 2nd Ed, June 2,1995 see section - 2.5.3 User Range Accuracy.

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updateLamMap()

void updateLamMap	(	const GTime &	time,
		SatPos &	obs )

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uraToSva()

int uraToSva

(

double

ura

)

URA value (m) to URA index.

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wrap2Pi()

void wrap2Pi

(

double &

angle

)

Wrap angle between [0, 2pi)

Parameters

angle

Angle to wrap

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wrapPlusMinusPi()

void wrapPlusMinusPi

(

double &

angle

)

Wrap angle between (-pi, pi].

Parameters

angle

Angle to wrap

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