Arrange all source DCBs to biases

Erase non-base-frequency measurements and non-dual-frequency satellites

Arrange the initialization results to estimator This function should be realized by initiliazers with specific input variables

Bind estimator->estimator pipelines

Bind estimator->formator->streamer pipelines

Bind estimator->ROS-streamer pipelines

Bind input and logging streams

Bind input and logging streams (ROS to ROS)

Bind post-file->estimator pipelines

Bind ROS-streamer->formator->streamer pipelines

Bind streamer->formator->estimator pipelines

Bind streamer->formator->ROS-streamer pipelines

Checks the internal datastructure (debug)

Check if all nodes valid

Check if a solution parameter valid

Check if we can continue under downsampling

Check if a code exists in biases_

Check observation valid for common or precise positioning

Check if insufficient satellites

Clear previous poses

Clear data callbacks

Close stream

Compare ephemeris

Compare glonass ephemeris

Compute and get minimal covariance at a given state

Compute coarse velocity from relative position

Computes the linearized deviation from the references (linearization points)

Compute and set ionosphere delays using dual-frequency or model

Compute pseudorange and phasernage total cost in current epoch

Evaluate all residual blocks and get total cost

Convert covariance

Convert Solution to sol_t

Convert solution to GNSS solution

Convert from estimated states (in ENU) to body states

Convert from estimated states (in ENU) to body states

Correct BDS satellite multipath

Correct code biases

Correct phase biases

Create ambiguity logger

Create DD phaserange residual logger

Create DD pseudorange residual logger

Create ionosphere logger

Create phaserange residual logger

Create pseudorange residual logger

Cycle slip detection by relative position

Data callback

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Convert normalized residual to raw residual

Decode antenna parameter field

Convert LLA in degree to LLA in rad

Convert LLA in degree to LLA in rad

delete space for each string in vector

Detect features

Pause stream

Down-weight IMU residual block

Resume stream

Enable replay mode

Enable replay

Encode GNESA (self-defined Extended Speed and Attitude) message Format: $GNESA,tod,Ve,Vn,Vu,Ar,Ap,Ay*checksum

Encode GNESD (self-defined Extended STD) message Format: $GNESD,tod,STD_Pe,STD_Pn,STD_Pu,STD_Ve,STD_Vn,STD_Vu, STD_Ar,STD_Ap,STD_Py*checksum

Encode GNGGA message

Encode GNRMC message

Erase ambiguity blocks

Erase all added ambiguity residual blocks

Erase clock blocks