| 211 | } |
| 212 | |
| 213 | bool ParseErrorModel(const std::string &ErrorModel, libRSF::FactorGraphConfig &Config) |
| 214 | { |
| 215 | if(ErrorModel.compare("gauss") == 0) |
| 216 | { |
| 217 | Config.GNSS.ErrorModel.Type = libRSF::ErrorModelType::Gaussian; |
| 218 | Config.GNSS.ErrorModel.TuningType = libRSF::ErrorModelTuningType::None; |
| 219 | } |
| 220 | else if(ErrorModel.compare("dcs") == 0) |
| 221 | { |
| 222 | Config.GNSS.ErrorModel.Type = libRSF::ErrorModelType::DCS; |
| 223 | Config.GNSS.ErrorModel.TuningType = libRSF::ErrorModelTuningType::None; |
| 224 | } |
| 225 | else if(ErrorModel.compare("cdce") == 0) |
| 226 | { |
| 227 | Config.GNSS.ErrorModel.Type = libRSF::ErrorModelType::cDCE; |
| 228 | Config.GNSS.ErrorModel.TuningType = libRSF::ErrorModelTuningType::None; |
| 229 | } |
| 230 | else if(ErrorModel.compare("sm") == 0) |
| 231 | { |
| 232 | Config.GNSS.ErrorModel.Type = libRSF::ErrorModelType::GMM; |
| 233 | Config.GNSS.ErrorModel.MixtureType = libRSF::ErrorModelMixtureType::SumMix; |
| 234 | Config.GNSS.ErrorModel.TuningType = libRSF::ErrorModelTuningType::None; |
| 235 | } |
| 236 | else if(ErrorModel.compare("mm") == 0) |
| 237 | { |
| 238 | Config.GNSS.ErrorModel.Type = libRSF::ErrorModelType::GMM; |
| 239 | Config.GNSS.ErrorModel.MixtureType = libRSF::ErrorModelMixtureType::MaxMix; |
| 240 | Config.GNSS.ErrorModel.TuningType = libRSF::ErrorModelTuningType::None; |
| 241 | } |
| 242 | else if(ErrorModel.compare("stsm") == 0) |
| 243 | { |
| 244 | Config.GNSS.ErrorModel.Type = libRSF::ErrorModelType::GMM; |
| 245 | Config.GNSS.ErrorModel.MixtureType = libRSF::ErrorModelMixtureType::SumMix; |
| 246 | Config.GNSS.ErrorModel.TuningType = libRSF::ErrorModelTuningType::EM; |
| 247 | } |
| 248 | else if(ErrorModel.compare("stmm") == 0) |
| 249 | { |
| 250 | Config.GNSS.ErrorModel.Type = libRSF::ErrorModelType::GMM; |
| 251 | Config.GNSS.ErrorModel.MixtureType = libRSF::ErrorModelMixtureType::MaxMix; |
| 252 | Config.GNSS.ErrorModel.TuningType = libRSF::ErrorModelTuningType::EM; |
| 253 | } |
| 254 | else |
| 255 | { |
| 256 | PRINT_ERROR("Wrong Error Model: ", ErrorModel); |
| 257 | return false; |
| 258 | } |
| 259 | |
| 260 | return true; |
| 261 | } |
| 262 | |
| 263 | |
| 264 | int CreateGraphAndSolve(std::vector<std::string> &Arguments, |
no outgoing calls
no test coverage detected