RawRange.hpp

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//==============================================================================
//
//  This file is part of GNSSTk, the ARL:UT GNSS Toolkit.
//
//  The GNSSTk 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 3.0 of the License, or
//  any later version.
//
//  The GNSSTk 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 GNSSTk; if not, write to the Free Software Foundation,
//  Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA
//
//  This software was developed by Applied Research Laboratories at the
//  University of Texas at Austin.
//  Copyright 2004-2022, The Board of Regents of The University of Texas System
//
//==============================================================================
 
//==============================================================================
//
//  This software was 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.
//
//==============================================================================
 
#ifndef NEW_RAW_RANGE_HPP
#define NEW_RAW_RANGE_HPP
 
#include <utility>
 
#include "Triple.hpp"
#include "Position.hpp"
#include "CommonTime.hpp"
#include "NavLibrary.hpp"
#include "NavSatelliteID.hpp"
#include "Position.hpp"
#include "EllipsoidModel.hpp"
#include "SVHealth.hpp"
#include "NavValidityType.hpp"
#include "NavSearchOrder.hpp"
 
namespace gnsstk
{
 
 
   class RawRange
   {
   public:
 
      static std::tuple<bool, double, Xvt> fromSvPos(
         const Position& rxPos,
         const Xvt& svXvt,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox = false,
         double seed = 0.07,
         double threshold = 1.e-13,
         int maxIter = 5
      );
 
      static std::tuple<bool, double, Xvt> fromSvTransmit(
         const Position& rxPos,
         NavLibrary& navLib,
         const NavSatelliteID& sat,
         const CommonTime& transmit,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox = false,
         SVHealth xmitHealth = SVHealth::Any,
         NavValidityType valid = NavValidityType::ValidOnly,
         NavSearchOrder order = NavSearchOrder::User,
         double seed = 0.07,
         double threshold = 1.e-13,
         int maxIter = 5
      );
 
 
      static std::tuple<bool, double, Xvt> fromReceive(
         const Position& rxPos,
         const CommonTime& receive,
         NavLibrary& navLib,
         const NavSatelliteID& sat,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox = false,
         SVHealth xmitHealth = SVHealth::Any,
         NavValidityType valid = NavValidityType::ValidOnly,
         NavSearchOrder order = NavSearchOrder::User,
         double seed = 0.07,
         double threshold = 1.e-13,
         int maxIter = 5
      );
 
      static std::tuple<bool, double, Xvt> fromNominalReceiveWithObs(
         const Position& rxPos,
         const CommonTime& receiveNominal,
         double pseudorange,
         NavLibrary& navLib,
         const NavSatelliteID& sat,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox = false,
         SVHealth xmitHealth = SVHealth::Any,
         NavValidityType valid = NavValidityType::ValidOnly,
         NavSearchOrder order = NavSearchOrder::User
      );
 
      static std::tuple<bool, double, Xvt> fromSvTransmitWithObs(
         const Position& rxPos,
         double pseudorange,
         NavLibrary& navLib,
         const NavSatelliteID& sat,
         const CommonTime& transmit,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox = false,
         SVHealth xmitHealth = SVHealth::Any,
         NavValidityType valid = NavValidityType::ValidOnly,
         NavSearchOrder order = NavSearchOrder::User
      );
 
      static std::tuple<bool, double, Xvt> fromNominalReceive(
         const Position& rxPos,
         const CommonTime& receiveNominal,
         NavLibrary& navLib,
         const NavSatelliteID& sat,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox = false,
         SVHealth xmitHealth = SVHealth::Any,
         NavValidityType valid = NavValidityType::ValidOnly,
         NavSearchOrder order = NavSearchOrder::User,
         double seed = 0.7,
         double threshold = 1.e-13,
         int maxIter = 5
      );
 
      static std::tuple<bool, CommonTime> estTransmitFromReceive(
         const Position& rxPos,
         const CommonTime& receive,
         NavLibrary& navLib,
         const NavSatelliteID& sat,
         const EllipsoidModel& ellipsoid,
         SVHealth xmitHealth = SVHealth::Any,
         NavValidityType valid = NavValidityType::ValidOnly,
         NavSearchOrder order = NavSearchOrder::User,
         double seed = 0.07,
         double threshold = 1.e-13,
         int maxIter = 5
      );
 
      static std::tuple<bool, CommonTime> estTransmitFromObs(
         const CommonTime& receiveNominal,
         double pseudorange,
         NavLibrary& navLib,
         const NavSatelliteID& sat,
         SVHealth xmitHealth = SVHealth::Any,
         NavValidityType valid = NavValidityType::ValidOnly,
         NavSearchOrder order = NavSearchOrder::User
      );
 
      static std::tuple<double, Xvt> computeRange(
         const Position& rxPos,
         const CommonTime& receive,
         const Xvt& svXvt,
         const CommonTime& transmit,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox=false
      );
 
      static std::tuple<double, Xvt> computeRange(
         const Position& rxPos,
         const Xvt& svXvt,
         double tof,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox=false
      );
 
      static std::tuple<double, Position> computeRange(
         const Position& rxPos,
         const CommonTime& receive,
         const Position& svPos,
         const CommonTime& transmit,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox=false
      );
 
      static std::tuple<double, Position> computeRange(
         const Position& rxPos,
         const Position& svPos,
         double tof,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox=false
      );
 
      static Triple rotateECEF(
         const Triple& vec,
         double dt,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox=false
      );
 
      static Position rotateECEF(
         const Position& vec,
         double dt,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox=false
      );
 
      static Xvt rotateECEF(
         const Xvt& xvt,
         double dt,
         const EllipsoidModel& ellipsoid,
         bool smallAngleApprox=false
      );
 
   }; // end class RawRange
 
 
}  // namespace gnsstk
 
#endif