//============================================================================////  This file is part of GPSTk, the GPS Toolkit.////  The GPSTk is free software; you can redistribute it and/or modify//  it under the terms of the GNU Lesser General Public License as published//  by the Free Software Foundation; either version 2.1 of the License, or//  any later version.////  The GPSTk is distributed in the hope that it will be useful,//  but WITHOUT ANY WARRANTY; without even the implied warranty of//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the//  GNU Lesser General Public License for more details.////  You should have received a copy of the GNU Lesser General Public//  License along with GPSTk; if not, write to the Free Software Foundation,//  Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA//  //  Copyright 2004, The University of Texas at Austin////============================================================================//============================================================================////This software developed by Applied Research Laboratories at the University of//Texas at Austin, under contract to an agency or agencies within the U.S. //Department of Defense. The U.S. Government retains all rights to use,//duplicate, distribute, disclose, or release this software. ////Pursuant to DoD Directive 523024 //// DISTRIBUTION STATEMENT A: This software has been approved for public //                           release, distribution is unlimited.////=============================================================================#include <string>#include <vector>#include <octave/oct.h>#include "oct-map.h"#include "RinexObsBase.hpp"#include "RinexObsData.hpp"#include "RinexObsHeader.hpp"#include "RinexObsStream.hpp"#include "RinexNavBase.hpp"#include "RinexNavData.hpp"#include "RinexNavHeader.hpp"#include "RinexNavStream.hpp"#include "TropModel.hpp" #include "BCEphemerisStore.hpp"#include "RAIMSolution.hpp"using namespace std;using namespace gpstk;DEFUN_DLD (calculatePosition, args, , "\n[pvt, editedObs]=calculatePosition(obsfile, navfile)\n\n\tReads named RINEX obs, nav files and returns a list of position\n\tsolutions and edited observations.\n"){   using ::Matrix;   Matrix pvtMatrix, editedMatrix;   int numObsTypes=-1, numPrns;   long nepochs = 0;   BCEphemerisStore bcestore;   RAIMSolution raimSolver;   //raimSolver.Solution(0)=3.9817800e+06;   //aimSolver.Solution(1)=-8.9237618e+04;   //raimSolver.Solution(2)=4.9652914e+06;   ZeroTropModel tropModel;   if (args.length() != 2)   {      print_usage("calculatePosition");      octave_value_list retval;      retval(0) = octave_value( Matrix());      retval(1) = octave_value( Matrix());      return retval;   }   try   {        // Read nav file and build unique list of ephemeredes      RinexNavStream rnffs(args(1).string_value().data());      RinexNavHeader rnh;      RinexNavData rne;      rnffs >> rnh;      while (rnffs >> rne)      {         bcestore.addEphemeris(rne);      }      string obsfilename=args(0).string_value();      RinexObsStream roffs(obsfilename.data());      roffs.exceptions(ios::failbit);      RinexObsHeader roh;      RinexObsData rod;            roffs >> roh;      long nepochs = 0;      // Scan through file the first time to get a count of epochs      while (roffs >> rod)      {         // Apply any editing criteria.	 if  (rod.epochFlag == 0 || rod.epochFlag == 1)            nepochs++;      }      pvtMatrix.resize(nepochs,3,0); // Will have to resize _again_ after solutions.        // Second scan      RinexObsStream roffs2(obsfilename.data());      roffs2.exceptions(ios::failbit);      int currentRec = 0;      roffs2 >> roh;      while (roffs2>>rod) // Loop through each epoch      {         // Apply editing criteria (again)         if  (rod.epochFlag == 0 || rod.epochFlag == 1) // Begin usable data	 {	    vector<RinexPrn> prnVec;            vector<double> rangeVec;	    RinexObsData::RinexPrnMap::const_iterator it;            for (it = rod.obs.begin(); it!= rod.obs.end(); it++)	    {	       RinexObsData::RinexObsTypeMap otmap;	       RinexObsData::RinexObsTypeMap::const_iterator mit;                RinexObsData::RinexDatum meas;               otmap = (*it).second;               mit = otmap.find(RinexObsHeader::P1);                    if (mit!=otmap.end())	       {                  prnVec.push_back((*it).first);                  rangeVec.push_back((*mit).second.data);	       }                       }                     bcestore.dump();            raimSolver.RMSLimit = 3e6;	    cout << raimSolver.Compute(rod.time,prnVec,rangeVec, bcestore, \			       &tropModel);            cout << raimSolver.RMSResidual;            if (raimSolver.isValid())	   {	      pvtMatrix(nepochs,0)=raimSolver.Solution[0];	      pvtMatrix(nepochs,1)=raimSolver.Solution[1];	      pvtMatrix(nepochs,2)=raimSolver.Solution[2];              cout << raimSolver.Solution[0] << "," ;              cout << raimSolver.Solution[0] << "," ;              cout << raimSolver.Solution[0] << endl ;              nepochs++;           } else cout << "Not valid!";  	 } // End usable data       } // End loop through each epoch     //  exit(0);   }   catch(FFStreamError& e)   {   }   catch(Exception& e)   {   }   catch (...)   {   }   //pvtMatrix.resize(nepochs-1,3,0); // Will have to resize _again_ after solutions.   octave_value_list retval;   retval(0) = octave_value( pvtMatrix);   retval(1) = octave_value( editedMatrix);   return retval;}