// Low level metod impose a ConstraintSystem object to the solver
int GeneralConstraint::constraintToSolver( ConstraintSystem& system,
gnssDataMap& gdsMap )
{
try
{
Vector<double> meas;
Matrix<double> design;
Matrix<double> covariance;
system.constraintMatrix(getVariables(),meas,design,covariance);
/*
cout << StringUtils::asString(getVariables()) << endl;
cout << meas << endl;
cout << design << endl;
cout << covariance << endl;
*/
if(meas.size()>0)
{
solver.kFilter.MeasUpdate(meas,design,covariance);
Vector<double> measVector = solver.getEquationSystem()
.getPrefitsVector();
Matrix<double> designMatrix = solver.getEquationSystem()
.getGeometryMatrix();
solver.solution = solver.kFilter.xhat;
solver.covMatrix = solver.kFilter.P;
solver.postfitResiduals = measVector
-(designMatrix * solver.solution);
solver.postCompute(gdsMap);
}
return 0;
}
catch (...)
{
return -1;
}
} // End of method 'GeneralConstraint::constraint('
