三、GraphGNSSLib 程序解析：roabag生成 ( rosbag_generator.cpp)

下面我们看一下 rosbag_generator.cpp 这个程序

/*
This file is part of GraphGNSSLib.
Main fucntions: add the raw GNSS data into the rosbag file by alligning the rostopic from SPAN-CPT.
input: rosbag, rinex file gnss raw measurements.
output: rosbag with raw gnss data 
*/

// std inputs and outputs, fstream
#include <iostream>
#include <string>  
#include <fstream>
#include<sstream>
#include <stdlib.h>
#include <iomanip>

// math
#include <math.h>
//time 
#include <time.h>
//algorithm 
#include <algorithm>

// google eigen
#include <Eigen/Eigen>
#include <Eigen/Dense>
#include<Eigen/Core>

// google implements commandline flags processing.
#