fix docs/typos requested in review of #72

Author: betaBison

docs/source/reference/reference.rst

@@ -109,10 +109,10 @@ GNSS measurement naming conventions are as follows:
   estimated true signal transmission time.
 * :code:`z_sv_m` : (float) satellite ECEF z position in meters at best
   estimated true signal transmission time.
-* :code:`el_sv_deg` : Elevation of satellite in relation to the
-  receiver's position.
-* :code:`az_sv_deg` : Azimuth of satellite in relation to the receiver's
-  position.
+* :code:`el_sv_deg` : (float) Elevation of satellite in degrees in
+  relation to the receiver's position.
+* :code:`az_sv_deg` : (float) Azimuth of satellite in degrees in
+  relation to the receiver's position.
 * :code:`vx_sv_mps` : (float) satellite ECEF x velocity in meters per
   second at estimated true signal transmission time.
 * :code:`vy_sv_mps` : (float) satellite ECEF y velocity in meters per

gnss_lib_py/algorithms/residuals.py

@@ -78,6 +78,8 @@ def solve_residuals(measurements, receiver_state, inplace=True):
                                  rx_t_idx].reshape(1,-1)
         pos_rx_m = np.tile(rx_pos, (num_svs, 1))
 
+        # assumes the use of corrected pseudoranges with the satellite
+        # clock bias already removed
         gt_pr_m = np.linalg.norm(pos_rx_m - pos_sv_m, axis = 1,
                                  keepdims = True) \
                 + receiver_state[rx_idxs["b_*_m"],rx_t_idx]

gnss_lib_py/algorithms/snapshot.py

@@ -61,15 +61,15 @@ def solve_wls(measurements, weight_type = None,
     position = np.zeros((4,1))
     for timestamp, _, measurement_subset in measurements.loop_time("gps_millis"):
 
-        pos_sv_m = np.hstack((measurement_subset["x_sv_m"].reshape(-1,1),
-                              measurement_subset["y_sv_m"].reshape(-1,1),
-                              measurement_subset["z_sv_m"].reshape(-1,1)))
+        pos_sv_m = measurement_subset[["x_sv_m","y_sv_m","z_sv_m"]].T
+        pos_sv_m = np.atleast_2d(pos_sv_m)
+
         corr_pr_m = measurement_subset["corr_pr_m"].reshape(-1,1)
 
         # remove NaN indexes
-        nan_indexes = ~np.isnan(pos_sv_m).any(axis=1)
-        pos_sv_m = pos_sv_m[nan_indexes]
-        corr_pr_m = corr_pr_m[nan_indexes]
+        not_nan_indexes = ~np.isnan(pos_sv_m).any(axis=1)
+        pos_sv_m = pos_sv_m[not_nan_indexes]
+        corr_pr_m = corr_pr_m[not_nan_indexes]
 
         if weight_type is not None:
             if isinstance(weight_type,str) and weight_type in measurements.rows:
@@ -86,12 +86,14 @@ def solve_wls(measurements, weight_type = None,
 
             states.append([timestamp] + np.squeeze(position).tolist())
         except RuntimeError as error:
-            print("RuntimeWarning: " + "gps_millis: " + str(int(timestamp)) \
-                        + ", " + str(error))
-
+            warnings.warn("RuntimeError encountered at gps_millis: " \
+                        + str(int(timestamp)) + " RuntimeError: " \
+                        + str(error), RuntimeWarning)
     states = np.array(states)
 
     if states.size == 0:
+        warnings.warn("No valid state estimate computed in WLS, "\
+                    + "returning None.", RuntimeWarning)
         return None
 
     state_estimate = NavData()
@@ -186,7 +188,8 @@ def wls(rx_est_m, pos_sv_m, corr_pr_m, weights = None,
             geometry_matrix[:,:3] = np.divide(pos_rx_m - pos_sv_m,
                                               gt_r_m.reshape(-1,1))
 
-
+        # assumes the use of corrected pseudoranges with the satellite
+        # clock bias already removed
         pr_delta = corr_pr_m - gt_r_m - rx_est_m[3,0]
         try:
             pos_x_delta = np.linalg.pinv(geometry_matrix.T @ weight_matrix @ geometry_matrix) \

gnss_lib_py/parsers/android.py

@@ -85,7 +85,7 @@ def postprocess(self):
         self['corr_pr_m'] = pr_corrected
 
         # rename gnss_id column to constellation type
-        constellation_map = {0.:"unkown",
+        constellation_map = {0.:"unknown",
                              1.:"gps",
                              2.:"sbas",
                              3.:"glonass",
@@ -177,7 +177,7 @@ def postprocess(self):
         self['corr_pr_m'] = pr_corrected
 
         # rename gnss_id column to constellation type
-        constellation_map = {0.:"unkown",
+        constellation_map = {0.:"unknown",
                              1.:"gps",
                              2.:"sbas",
                              3.:"glonass",

gnss_lib_py/parsers/navdata.py

@@ -183,9 +183,6 @@ def where(self, key_idx, value, condition="eq"):
             NavData with columns where given condition is satisfied
             for specified row
         """
-        # Add a condition here instead of just comparing to a value.
-        # Do so by adding a parameter for less than inequality, equality and
-        # greater than inequality
         new_cols = self.argwhere(key_idx, value, condition)
         if new_cols.size == 0:
             return self.remove(cols=list(range(len(self))))
@@ -242,11 +239,13 @@ def argwhere(self, key_idx, value, condition="eq"):
             # Find columns where value can be found and return new NavData
             if condition=="eq":
                 if not isinstance(value,str) and np.isnan(value):
+                    # check isinstance b/c np.isnan can't handle strings
                     new_cols = np.argwhere(np.isnan(self.array[row, :]))
                 else:
                     new_cols = np.argwhere(self.array[row, :]==value)
             elif condition=="neq":
                 if not isinstance(value,str) and np.isnan(value):
+                    # check isinstance b/c np.isnan can't handle strings
                     new_cols = np.argwhere(~np.isnan(self.array[row, :]))
                 else:
                     new_cols = np.argwhere(self.array[row, :]!=value)
@@ -563,7 +562,7 @@ def in_rows(self, rows):
 
         if isinstance(rows,str):
             rows = [rows]
-        if type(rows) in (list, np.ndarray, tuple):
+        if isinstance(rows, (list, np.ndarray, tuple)):
             if isinstance(rows,np.ndarray):
                 rows = np.atleast_1d(rows)
             missing_rows = ["'"+row+"'" for row in rows
@@ -716,8 +715,8 @@ def __setitem__(self, key_idx, new_value):
         if isinstance(key_idx, str) and key_idx not in self.map:
             #Creating an entire new row
             if isinstance(new_value, np.ndarray) \
-                    and (new_value.dtype in (object,str) \
-                    or np.issubdtype(new_value.dtype,np.dtype('U'))):
+            and (new_value.dtype in (object,str) \
+            or np.issubdtype(new_value.dtype,np.dtype('U'))):
                 # Adding string values
                 new_value = new_value.astype(str)
                 new_str_vals = len(np.unique(new_value))*np.ones(np.shape(new_value),
@@ -759,9 +758,9 @@ def __setitem__(self, key_idx, new_value):
                 "Cannot assign/return combination of strings and numbers"
             if np.all(row_str):
                 assert isinstance(new_value, np.ndarray) \
-                   and (new_value.dtype in (object,str) \
-                     or np.issubdtype(new_value.dtype,np.dtype('U'))), \
-                        "String assignment only supported for ndarray of type object"
+                and (new_value.dtype in (object,str) \
+                or np.issubdtype(new_value.dtype,np.dtype('U'))), \
+                    "String assignment only supported for ndarray of type object"
                 inv_map = self.inv_map
                 new_value = np.atleast_2d(new_value)
                 new_str_vals = np.ones_like(new_value, dtype=self.arr_dtype)
@@ -882,7 +881,7 @@ def _get_set_str_rows(self, rows, new_value):
 
         if isinstance(new_value, np.ndarray) and (new_value.dtype in (object,str) \
                         or np.issubdtype(new_value.dtype,np.dtype('U'))):
-            if type(new_value.item(0)) in (int, float):
+            if isinstance(new_value.item(0), (int, float)):
                 row_str_new = [False]*len(row_list)
             else:
                 row_str_new = [True]*len(row_list)

gnss_lib_py/utils/visualizations.py

@@ -42,7 +42,7 @@
 MARKERS = ["o","*","P","v","s","^","p","<","h",">","H","X","D"]
 
 GNSS_ORDER = ["gps","glonass","galileo","beidou","qzss","irnss","sbas",
-              "unkown"]
+              "unknown"]
 
 mpl.rcParams['axes.prop_cycle'] = (cycler(color=STANFORD_COLORS) \
                                 +  cycler(marker=MARKERS))
@@ -61,8 +61,8 @@ def plot_metric(navdata, *args, groupby=None, title=None, save=False,
         Tuple of row names that are to be plotted. If one is given, that
         value is plotted on the y-axis. If two values are given, the
         first is plotted on the x-axis and the second on the y-axis.
-    grouby : string
-        Row name by which to groub and label plots.
+    groupby : string
+        Row name by which to group and label plots.
     title : string
         Title for the plot.
     save : bool
@@ -688,7 +688,7 @@ def _save_figure(figures, titles=None, prefix="", fnames=None): # pragma: no cov
         figures = [figures]
     if isinstance(titles,str) or titles is None:
         titles = [titles]
-    if type(fnames) in (str, pathlib.Path) or fnames is None:
+    if isinstance(fnames, (str, pathlib.Path)) or fnames is None:
         fnames = [fnames]
 
     for fig_idx, figure in enumerate(figures):
@@ -874,7 +874,7 @@ def _save_plotly(figures, titles=None, prefix="", fnames=None,
         figures = [figures]
     if isinstance(titles,str) or titles is None:
         titles = [titles]
-    if type(fnames) in (str, pathlib.Path) or fnames is None:
+    if isinstance(fnames, (str, pathlib.Path)) or fnames is None:
         fnames = [fnames]
 
     for fig_idx, figure in enumerate(figures):

tests/algorithms/test_snapshot.py

@@ -475,7 +475,7 @@ def test_wls_fails(capsys):
     captured = capsys.readouterr()
     assert captured.out == "SVD did not converge\n"
 
-def test_solve_wls_fails(capsys, derived):
+def test_solve_wls_fails(derived):
     """Test expected fails
 
     Parameters
@@ -487,7 +487,21 @@ def test_solve_wls_fails(capsys, derived):
 
     navdata = derived.remove(cols=list(range(3,len(derived))))
 
-    solve_wls(navdata)
-    captured = capsys.readouterr()
-    assert "gps_millis" in captured.out
-    assert "four satellites" in captured.out
+    with pytest.warns(RuntimeWarning) as warns:
+        solve_wls(navdata)
+
+    # verify RuntimeWarning
+    assert len(warns) == 2
+
+    caught_four_sats = False
+    caught_empty_state = False
+    for warn in warns:
+        assert issubclass(warn.category, RuntimeWarning)
+        assert "WLS" in str(warn.message)
+        if "four satellites" in str(warn.message):
+            caught_four_sats = True
+        elif "No valid state" in str(warn.message):
+            caught_empty_state = True
+
+    assert caught_four_sats
+    assert caught_empty_state

tests/parsers/test_navdata.py

@@ -1184,7 +1184,7 @@ def test_multi_set_changing_type(data,new_string):
                         [slice(7, 8),
                         8])
 def test_wrong_init_set(row_idx):
-    """ Test init with unkown set.
+    """ Test init with unknown set.
 
     """
     empty_data = NavData()

tests/utils/test_visualizations.py

@@ -424,10 +424,10 @@ def test_sort_gnss_ids():
 
     """
 
-    unsorted_ids = ["galileo","beta","beidou","irnss","gps","unkown","glonass",
+    unsorted_ids = ["galileo","beta","beidou","irnss","gps","unknown","glonass",
                 "alpha","qzss","sbas"]
     sorted_ids = ["gps","glonass","galileo","beidou","qzss","irnss","sbas",
-                  "unkown", "alpha", "beta"]
+                  "unknown", "alpha", "beta"]
 
     assert viz._sort_gnss_ids(unsorted_ids) == sorted_ids
     assert viz._sort_gnss_ids(np.array(unsorted_ids)) == sorted_ids