gtsamGNSS

Standalone C++20 GNSS/robust-factor library extracted from the legacy robust GNSS fork, intended for integration with modern GTSAM 4.x builds.

Scope

• gtsam/gnssNavigation: GNSS factors, tools, data helpers, and state wrappers.
• gtsam/robustModels: switch/max-mix robust factor variants.

Build

cmake --preset macos-debug
cmake --build --preset build-macos-debug -j
ctest --preset test-macos-debug

Linux presets:

cmake --preset linux-release
cmake --build --preset build-linux-release -j

Strict/sanitizer presets:

cmake --preset linux-debug-strict
cmake --build --preset build-linux-debug-strict -j
ctest --preset test-linux-debug-strict

cmake --preset linux-asan
cmake --build --preset build-linux-asan -j
ctest --preset test-linux-asan

If CMake cannot find GTSAM automatically, set your config path first:

export GTSAM_DIR=/path/to/gtsam/lib/cmake/GTSAM

Design Notes

• PhaseBias and multimodal component types are centralized in include/gtsam/gnssNavigation/GnssTypes.h.
• GNSSMultiModalFactor no longer depends on libcluster types.
• Public headers avoid global using namespace leakage.
• Typed GNSS I/O errors are defined in include/gtsam/gnssNavigation/GnssErrors.h.