Merge pull request #523 from ut-issl/feature/refactor-gnss-satellite

Refactor GNSS satellites class

data/sample/initialize_files/sample_gnss.ini

@@ -2,50 +2,66 @@
 directory_path = EXT_LIB_DIR_FROM_EXE/sp3/
 calculation = DISABLE
 
+// Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final
 true_position_file_sort = IGS
-// choose from IGS, CODE_Final, JAXA_Final, QZSS_Final
+
 // As small as possible within the range.
 true_position_first = igs21610.sp3
 true_position_last = igs21613.sp3
+
+// Choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
 true_position_interpolation_method = 1
-// choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
+
+// If you chose Trigonometric as interpolation method, you must choose odds number here.
 true_position_interpolation_number = 9
-// if you chose Trigonometric as interpolation method, you must choose odds number here.
 
-// choose frome .sp3, .clk_30s or .clk
+// Choose frome .sp3, .clk_30s or .clk
 true_clock_file_extension = .clk_30s
+
+// Choose from IGS, CODE_Final, JAXA_Final, QZSS_Final
+// If you choose clk_30s, should choose the one equivalent to final, if you choose clk should choose the one equivalent to rapid.
 true_clock_file_sort = IGS
-// choose from IGS, CODE_Final, JAXA_Final, QZSS_Final
-//if you choose clk_30s, should choose the one equivalent to final, if you choose clk should choose the one equivalent to rapid.
+
 // As small as possible within the range.
-// The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
 true_clock_first = igs21610.clk_30s
 true_clock_last = igs21613.clk_30s
+// The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
 true_clock_interpolation_number = 3
 
-estimate_position_file_sort = madocaRT
+//
+// Estimated value
+//
 // choose from IGS, IGR, IGU,
 // CODE_Final, CODE_Rapid
 // JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
 // QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
+estimate_position_file_sort = madocaRT
+
 // As small as possible within the range.
 estimate_position_first = madoca21610.sp3
 estimate_position_last = madoca21613.sp3
-// when you use Ultra Rapid Product, you can choose "observe" or "predict"
-estimate_position_interpolation_method = 1
+
 // choose from 0: Lagrange, 1: Trigonometric : temporarily, only Trigonometric is valid, Lagrange is not yet implemented.
-estimate_position_interpolation_number = 9
+estimate_position_interpolation_method = 1
+
 // if you chose Trigonometric as interpolation method, you must choose odds number here.
-estimate_clock_file_sort = madocaRT
+estimate_position_interpolation_number = 9
+
 // choose from IGS, IGR, IGU,
 // CODE_Final, CODE_Rapid
 // JAXA_Final, JAXA_Rapid, JAXA_Ultra_rapid, madocaRT,
 // QZSS_Final, QZSS_Rapid, QZSS_Ultra_rapid
+estimate_clock_file_sort = madocaRT
+
 // choose frome .sp3, .clk_30s or .clk
 estimate_clock_file_extension = .sp3
+
 // As small as possible within the range.
 estimate_clock_first = madoca21610.sp3
 estimate_clock_last = madoca21613.sp3
+
 // The method is fixed with Lagrange interpolation, 3 (quadratic) recommended
 estimate_clock_interpolation_number = 3
+
+// when you use Ultra Rapid Product, you can choose "observe" or "predict"
 estimate_ur_observe_or_predict = observe

src/components/real/aocs/gnss_receiver.cpp

@@ -112,11 +112,11 @@ void GnssReceiver::CheckAntennaCone(const libra::Vector<3> pos_true_eci_, libra:
  // initialize
  visible_satellite_number_ = 0;
 
- int gnss_num = gnss_satellites_->GetNumOfSatellites();
+ int gnss_num = gnss_satellites_->GetNumberOfSatellites();
 
  for (int i = 0; i < gnss_num; i++) {
  // check if gnss ID is compatible with the receiver
- std::string id_tmp = gnss_satellites_->GetIDFromIndex(i);
+ std::string id_tmp = gnss_satellites_->GetIdFromIndex(i);
  if (gnss_id_.find(id_tmp[0]) == std::string::npos) continue;
 
  // compute direction from sat to gnss in body-fixed frame