// Feed the constraint equations to the solver
void GeneralConstraint::process( gnssDataMap& gdsMap,
GeneralEquations* gEquPtr )
{
if(gEquPtr)
{
solver.setEquationSystemConstraints(
gEquPtr->getConstraintSystem(gdsMap) );
CommonTime time( ( *gdsMap.begin() ).first );
updateRefSat( time,
gEquPtr->getRefSatSourceMap(),
gEquPtr->getSourceRefSatMap() );
solver.Process(gdsMap);
refsatSourceMap = gEquPtr->getRefSatSourceMap();
sourceRefsatMap = gEquPtr->getSourceRefSatMap();
constraint(gdsMap);
}
else
{
solver.Process(gdsMap);
constraint(gdsMap);
}
} // End of method 'GeneralConstraint::process(...'
// update the satellite data due to the input GDS object
void GeneralEquations::updateSourceSatDataMap( const gnssDataMap& gdsMap )
{
SourceSatDataMap dataMap;
// Iterate through all items in the gnssDataMap
for( gnssDataMap::const_iterator it = gdsMap.begin();
it != gdsMap.end();
++it )
{
// Look for current SourceID
sourceDataMap::const_iterator sdmIter; //(it->second.find(source));
for( sdmIter=it->second.begin();
sdmIter!=it->second.end();
++sdmIter )
{
SourceID source(sdmIter->first);
SatData data;
// Iterate through corresponding 'satTypeValueMap'
satTypeValueMap::const_iterator stvmIter;
for( stvmIter = sdmIter->second.begin();
stvmIter != sdmIter->second.end();
++stvmIter )
{
SatID sat(stvmIter->first);
typeValueMap::const_iterator itt1 =
stvmIter->second.find(TypeID::elevation);
typeValueMap::const_iterator itt2 =
stvmIter->second.find(TypeID::CSL1);
if( (itt1==stvmIter->second.end()) ||
(itt2==stvmIter->second.end()) )
{
Exception e("Elevation was not found.");
GPSTK_THROW(e);
}
data.addData(sat, itt1->second,
(itt2->second!=0.0)?true:false, false);
} // End of 'for( satTypeValueMap::const_iterator ...'
dataMap[source] = data;
} // End of 'for( sdmIter=it->second.begin();...'
} // End of 'for( gnssDataMap::const_iterator it = ...'
sourceSatDataMap = dataMap;
} // End of method 'void GeneralEquations::updateSourceSatDataMap'
// Synchronize the CS flag of input GDS object with the
// SourceSatDataMap object
void GeneralEquations::synchronizeCSFlag( const SourceSatDataMap& dataMap,
gnssDataMap& gdsMap )
{
// Iterate through the gnssDatamap
for( gnssDataMap::iterator it = gdsMap.begin();
it != gdsMap.end();
++it )
{
// Look for current SourceID
for( sourceDataMap::iterator sdmIter = it->second.begin();
sdmIter != it->second.end();
++sdmIter)
{
SourceID source(sdmIter->first);
// Iterate through corresponding 'satTypeValueMap'
for( satTypeValueMap::iterator stvmIter = sdmIter->second.begin();
stvmIter != sdmIter->second.end();
++stvmIter )
{
SatID sat(stvmIter->first);
SourceSatDataMap::const_iterator its = dataMap.find(source);
if( its!=dataMap.end() )
{
int index = its->second.indexOfSat(sat);
if( index>=0 )
{
double csValue = its->second.csflag[index]?1.0:0.0;
stvmIter->second[TypeID::CSL1] = csValue;
stvmIter->second[TypeID::CSL2] = csValue;
} // End of 'if( index>=0 )'
} // End of 'if( its!=dataMap.end() )'
} // End of 'for( satTypeValueMap::const_iterator ...'
} // End of 'for(sourceDataMap::iterator '
} // End of 'for( gnssDataMap::const_iterator it = ...'
} // End of method 'GeneralEquations::synchronizeCSFlag()'
// Prepare set of current unknowns and list of current equations
VariableSet EquationSystem::prepareCurrentUnknownsAndEquations(
gnssDataMap& gdsMap )
{
// Let's clear the current equations list
currentEquationsList.clear();
// Let's create 'currentUnkSet' set
VariableSet currentUnkSet;
// Get "currentSatSet" and "currentSourceSet"
// and stored in currentSourceSet and currentSatSet
prepareCurrentSourceSat( gdsMap );
// Visit each "Equation" in "equationDescriptionList"
for( std::list<Equation>::const_iterator itEq =
equationDescriptionList.begin();
itEq != equationDescriptionList.end();
++itEq )
{
// First, get the SourceID set for this equation description
SourceIDSet equSourceSet;
// Check if current equation description is valid for all sources
if ( (*itEq).getEquationSource() == Variable::allSources )
{
equSourceSet = currentSourceSet;
}
else
{
// Check if equation description is valid for some sources
if ( (*itEq).getEquationSource() == Variable::someSources )
{
// We have to find the intersection between equation
// description SourceID's and available SourceID's.
SourceIDSet tempSourceSet( (*itEq).getSourceSet() );
// Declare an 'insert_iterator' to be used by
// 'set_intersection' algorithm (provided by STL)
std::insert_iterator< SourceIDSet >
itOut( equSourceSet, equSourceSet.begin() );
// Let's intersect both sets
set_intersection( tempSourceSet.begin(), tempSourceSet.end(),
currentSourceSet.begin(), currentSourceSet.end(),
itOut );
}
else
{
// In this case, we take directly the source into the
// equation source set
equSourceSet.insert( (*itEq).getEquationSource() );
}
} // End of 'if ( (*itEq).getEquationSource() == ...'
// Second, get the SatID set for this equation description
SatIDSet equSatSet = (*itEq).getSatSet();
// We have the SourceID set that is applicable to this
// equation description.
// Now we must get the satellites visible from each
// particular SourceID
for( SourceIDSet::const_iterator itSource = equSourceSet.begin();
itSource != equSourceSet.end();
++itSource )
{
// Get visible satellites from this SourceID
SatIDSet visibleSatSet;
// Iterate through all items in the gnssDataMap
for( gnssDataMap::const_iterator it = gdsMap.begin();
it != gdsMap.end();
++it )
{
// Look for current SourceID
sourceDataMap::const_iterator sdmIter(
(*it).second.find( (*itSource) ) );
// If SourceID was found, then look for satellites
if( sdmIter != (*it).second.end() )
{
// Iterate through corresponding 'satTypeValueMap'
for( satTypeValueMap::const_iterator stvmIter =
(*sdmIter).second.begin();
stvmIter != (*sdmIter).second.end();
stvmIter++ )
{
// for some sat
if((equSatSet.size() > 0) &&
(equSatSet.find((*stvmIter).first) == equSatSet.end()))
{
continue;
}
// Add current SatID to 'visibleSatSet'
visibleSatSet.insert( (*stvmIter).first );
} // End of 'for( satTypeValueMap::const_iterator ...'
} // End of 'for( sourceDataMap::const_iterator sdmIter = ...'
} // End of 'for( gnssDataMap::const_iterator it = ...'
// We have the satellites visible from this SourceID
// We need a copy of current Equation object description
Equation tempEquation( (*itEq) );
// Remove all variables from current equation
tempEquation.clear();
// Update equation independent term with SourceID information
tempEquation.header.equationSource = (*itSource);
// Now, let's visit all Variables in this equation description
for( VariableSet::const_iterator itVar = (*itEq).body.begin();
itVar != (*itEq).body.end();
++itVar )
{
// We will work with a copy of current Variable
Variable var( (*itVar) );
// Check what type of variable we are working on
// If variable is source-indexed, set SourceID
if( var.getSourceIndexed() )
{
var.setSource( (*itSource) );
}
// Add this variable to current equation description. Please
// be aware that satellite-indexed variables inside current
// equations will be handled later
tempEquation.addVariable(var);
// If variable is not satellite-indexed, we just need to
// add it to "currentUnkSet
if( !var.getSatIndexed() )
{
// Insert the result in "currentUnkSet" and
// current equation
currentUnkSet.insert(var);
//tempEquation.addVariable(var);
}
else
{
// If variable IS satellite-indexed, we have to visit all
// visible satellites (from current SourceID) and set the
// satellite before adding variable to "currentUnkSet
for( SatIDSet::const_iterator itSat = visibleSatSet.begin();
itSat != visibleSatSet.end();
++itSat )
{
// Set satellite
var.setSatellite( (*itSat) );
// Insert the result in "currentUnkSet" and
// current equation
currentUnkSet.insert(var);
}
} // End of 'if( !var.getSatIndexed() )...'
} // End of 'for( VariableSet::const_iterator itVar = ...'
// Let's generate the current equations starting from this
// equation description. Therefore, we update equation
// independent term with SatID information and add each instance
// to 'currentEquationsList'.
for( SatIDSet::const_iterator itSat = visibleSatSet.begin();
itSat != visibleSatSet.end();
++itSat )
{
tempEquation.header.equationSat = (*itSat);
// New equation is complete: Add it to 'currentEquationsList'
currentEquationsList.push_back( tempEquation );
}
} // End of 'for( SourceIDSet::const_iterator itSource = ...'
} // End of 'for( std::list<Equation>::const_iterator itEq = ...'
// Now we will take care of satellite-indexed variables inside each
// specific "Equation" in "currentEquationsList"
const size_t eqListSize( currentEquationsList.size() );
for( size_t i = 0; i < eqListSize; ++i )
{
// Get a copy of first equation on 'currentEquationsList'
Equation tempEqu( currentEquationsList.front() );
// Remove the original equation at the beginning of the list.
currentEquationsList.pop_front();
// Get a copy of variables inside this equation
VariableSet varSet( tempEqu.body );
// Clear the variables from this equation
tempEqu.clear();
// Visit each variable inside 'varSet', check if it is
// satellite-indexed, and add it to equation
for( VariableSet::iterator itVar = varSet.begin();
itVar != varSet.end();
++itVar )
{
// Check if it is satellite-indexed
if( !(*itVar).getSatIndexed() )
{
// If not satellite-indexed, just add it back
tempEqu.addVariable( (*itVar) );
}
else
{
// If 'itVar' is satellite-indexed, let's index a copy of it
// and add it to equation
Variable var( (*itVar) );
var.setSatellite( tempEqu.header.equationSat );
tempEqu.addVariable( var );
}
} // End of 'for( VariableSet::iterator itVar = varSet.begin(); ...'
// Our equation is ready, let's add it to the end of the list
currentEquationsList.push_back( tempEqu );
} // End of 'for( int i = 0; i < eqListSize; ++i ) ...'
// Return set of current unknowns
return currentUnkSet;
} // End of method 'EquationSystem::prepareCurrentUnknownsAndEquations()'