| 32 | #include "Example_FG_Pseudorange.h" |
| 33 | |
| 34 | void CreateData (libRSF::SensorDataSet &RangeMeasurements) |
| 35 | { |
| 36 | std::default_random_engine Generator(42); |
| 37 | std::normal_distribution<double> Distribution(0.0, STDDEV_RANGE); |
| 38 | |
| 39 | libRSF::Vector1 Range, StdDev, SatID; |
| 40 | vector<libRSF::Vector2> SatPositions; |
| 41 | vector<libRSF::Vector2> EgoPositions; |
| 42 | |
| 43 | StdDev << STDDEV_RANGE; |
| 44 | |
| 45 | SatPositions.push_back((libRSF::Vector2() << 10, 10).finished()); |
| 46 | SatPositions.push_back((libRSF::Vector2() << 10, -10).finished()); |
| 47 | SatPositions.push_back((libRSF::Vector2() << -10, 10).finished()); |
| 48 | SatPositions.push_back((libRSF::Vector2() << -10, -10).finished()); |
| 49 | |
| 50 | EgoPositions.push_back((libRSF::Vector2() << 0, 0).finished()); |
| 51 | EgoPositions.push_back((libRSF::Vector2() << 1, 0).finished()); |
| 52 | EgoPositions.push_back((libRSF::Vector2() << 1, 1).finished()); |
| 53 | |
| 54 | for (int i = 0; i < static_cast<int>(EgoPositions.size()); i++) |
| 55 | { |
| 56 | for (int j = 0; j < static_cast<int>(SatPositions.size()); j++) |
| 57 | { |
| 58 | Range[0] = (SatPositions.at(j) - EgoPositions.at(i)).norm() + Distribution(Generator) + OFFSET; |
| 59 | SatID << j; |
| 60 | |
| 61 | libRSF::Data PseudorangeMasurement(libRSF::DataType::Pseudorange2, i); |
| 62 | PseudorangeMasurement.setMean(Range); |
| 63 | PseudorangeMasurement.setStdDevDiagonal(StdDev); |
| 64 | PseudorangeMasurement.setValue(libRSF::DataElement::SatPos, SatPositions.at(j)); |
| 65 | PseudorangeMasurement.setValue(libRSF::DataElement::SatID, SatID); |
| 66 | |
| 67 | RangeMeasurements.addElement(PseudorangeMasurement); |
| 68 | } |
| 69 | } |
| 70 | } |
| 71 | |
| 72 | #ifndef TESTMODE // only compile main if not used in test context |
| 73 |
no test coverage detected