gnssplusplus-library

Imported from rsasaki0109/gnssplusplus-library (AGENTS.md). Install upstream with npx skills add rsasaki0109/gnssplusplus-library. Copyright stays with the author.

Agent guide

Practical notes for agents and contributors working in this repository.

Build & test

cmake -S . -B build
cmake --build build -j$(nproc)
ctest --test-dir build -j$(nproc)   # expect 71/71

ctest covers the C++ gtest suites plus the Python lanes (CLI tools, bindings, web UI, ROS2 node smoke). A few Python CLI tests are timing sensitive; if one fails under -j, re-run it serially before treating it as a regression.

The RTKRealDataTest.* gtests skip unless data/{rover,base,navigation} exist; they assert against a historical fixture dataset that is not the PPC data (see below), so do not point those symlinks at PPC runs.

Optional GTSAM backend

find_package(GTSAM QUIET CONFIG PATHS /usr/local/lib/cmake/GTSAM) gates the FGO GTSAM backend (fgo_gtsam_backend.cpp, fgo_gtsam_fixed_lag.cpp). The backend needs GTSAM 4.3.x (gtsam/navigation/CarrierPhaseFactor.h is not in 4.2).

Local setup used for verification:

# built from source with system Eigen, no TBB:
cmake -S <gtsam-src> -B <gtsam-build> -DCMAKE_BUILD_TYPE=Release \
    -DCMAKE_INSTALL_PREFIX=$HOME/.local -DGTSAM_USE_SYSTEM_EIGEN=ON \
    -DGTSAM_WITH_TBB=OFF -DGTSAM_BUILD_TESTS=OFF -DGTSAM_BUILD_UNSTABLE=OFF
cmake --build <gtsam-build> -j$(nproc) && cmake --install <gtsam-build>

# configure this repo against it:
cmake -S . -B build -DGTSAM_DIR=$HOME/.local/lib/cmake/GTSAM

# runtime: gtsam's bundled libs live in ~/.local/lib
export LD_LIBRARY_PATH=$HOME/.local/lib:${LD_LIBRARY_PATH:-}
ctest --test-dir build -j8

Do not replace LD_LIBRARY_PATH; append to it or ROS 2 libraries stop resolving.

Behavior-preserving refactor gate

Solver refactors must be pure code motion. Verify on real data:

ln -sf PPC-Dataset/tokyo/run1/rover.obs data/rover.obs
ln -sf PPC-Dataset/tokyo/run1/base.obs  data/base.obs
ln -sf PPC-Dataset/tokyo/run1/base.nav  data/navigation.nav
./build/examples/rtk_positioning data > after.txt 2>&1

Diff after.txt against a baseline captured from the pre-change tree (e.g. a git worktree at the base commit). Output must be byte-identical. Remove the symlinks afterwards so RTKRealDataTest.* returns to skipping.

Conventions

• Conventional commits (feat:, fix:, refactor:, build:, docs:, test:).
• Solver implementations follow the per-concern TU pattern: ppp_*.cpp, rtk_*.cpp / fgo_*.cpp with shared helpers as inline functions in a sibling *_internal.hpp (libgnss::ppp_internal / rtk_internal / fgo_internal / fgo_gtsam_internal). Add new solver sources to the canonical lists at the top of the root CMakeLists.txt; RTK runtime sources compile once via the gnss_rtk_core OBJECT library and are packaged into both gnss_lib_solvers and gnss_rtk_runtime.
• Test fixtures live under tests/fixtures/; generated artifacts (*.png, *.pos) need an explicit negation rule in .gitignore.
• third_party/ holds vendored, always-built dependencies; external/ is gitignored and reserved for opt-in parity checkouts (see third_party/README.md).