gps_pvt 0.2.1 → 0.2.3

data/ext/ninja-scan-light/tool/swig/GPS.i

@@ -159,6 +159,14 @@ static std::string inspect_str(const VALUE &v){
     *week = self->week;
     *seconds = self->seconds;
   }
+#if defined(SWIG)  
+  int __cmp__(const GPS_Time<FloatT> &t) const {
+    return ((self->week < t.week) ? -1 
+        : ((self->week > t.week) ? 1 
+          : (self->seconds < t.seconds ? -1 
+            : (self->seconds > t.seconds ? 1 : 0))));
+  }
+#endif
 }
 
 %define MAKE_ACCESSOR(name, type)
@@ -413,8 +421,6 @@ struct GPS_Ephemeris : public GPS_SpaceNode<FloatT>::SatelliteProperties::Epheme
     %append_output(swig::from($1.latitude));
     %append_output(swig::from($1.longitude));
   }
-  %ignore iono_correction() const;
-  %ignore tropo_correction() const;
   int read(const char *fname) {
     std::fstream fin(fname, std::ios::in | std::ios::binary);
     typename RINEX_NAV_Reader<FloatT>::space_node_list_t space_nodes = {self};
@@ -800,6 +806,7 @@ struct GPS_Measurement {
     L1_RANGE_RATE_SIGMA,
     L1_SIGNAL_STRENGTH_dBHz,
     L1_LOCK_SEC,
+    L1_FREQUENCY,
     ITEMS_PREDEFINED,
   };
   void add(const int &prn, const int &key, const FloatT &value){
@@ -821,71 +828,15 @@ const type &get_ ## name () const {
 %enddef
   MAKE_ACCESSOR2(elevation_mask, FloatT);
   MAKE_ACCESSOR2(residual_mask, FloatT);
-  MAKE_ACCESSOR2(f_10_7, FloatT);
 #undef MAKE_ACCESSOR2
   MAKE_VECTOR2ARRAY(int);
   %ignore cast_base;
-#ifdef SWIGRUBY
-  %rename("ionospheric_models=") set_ionospheric_models;
-  %rename("ionospheric_models") get_ionospheric_models;
-#endif
-  %typemap(in) const std::vector<int> &models (std::vector<int> temp) {
-    $1 = &temp;
-#ifdef SWIGRUBY
-    if(RB_TYPE_P($input, T_ARRAY)){
-      for(int i(0), i_max(RARRAY_LEN($input)); i < i_max; ++i){
-        SWIG_Object obj(RARRAY_AREF($input, i));
-        int v;
-        if(SWIG_IsOK(SWIG_AsVal(int)(obj, &v))){
-          temp.push_back(v);
-        }else{
-          SWIG_exception(SWIG_TypeError, "$*1_ltype is expected");
-        }
-      }
-    }
-#endif
-  }
 }
 %inline %{
 template <class FloatT>
 struct GPS_SolverOptions_Common {
-  enum {
-    IONOSPHERIC_KLOBUCHAR,
-    IONOSPHERIC_SBAS,
-    IONOSPHERIC_NTCM_GL,
-    IONOSPHERIC_NONE, // which allows no correction
-    IONOSPHERIC_MODELS,
-    IONOSPHERIC_SKIP = IONOSPHERIC_MODELS, // which means delegating the next slot
-  };
   virtual GPS_Solver_GeneralOptions<FloatT> *cast_general() = 0;
   virtual const GPS_Solver_GeneralOptions<FloatT> *cast_general() const = 0;
-  std::vector<int> get_ionospheric_models() const {
-    typedef GPS_Solver_GeneralOptions<FloatT> general_t;
-    const general_t *general(this->cast_general());
-    std::vector<int> res;
-    for(int i(0); i < general_t::IONOSPHERIC_MODELS; ++i){
-      int v((int)(general->ionospheric_models[i]));
-      if(v == general_t::IONOSPHERIC_SKIP){break;}
-      res.push_back(v);
-    }
-    return res;
-  }
-  std::vector<int> set_ionospheric_models(const std::vector<int> &models){
-    typedef GPS_Solver_GeneralOptions<FloatT> general_t;
-    general_t *general(this->cast_general());
-    typedef typename general_t::ionospheric_model_t model_t;
-    for(int i(0), j(0), j_max(models.size()); i < general_t::IONOSPHERIC_MODELS; ++i){
-      model_t v(general_t::IONOSPHERIC_SKIP);
-      if(j < j_max){
-        if((models[j] >= 0) && (models[j] < general_t::IONOSPHERIC_SKIP)){
-          v = (model_t)models[j];
-        }
-        ++j;
-      }
-      general->ionospheric_models[i] = v;
-    }
-    return get_ionospheric_models();
-  }
 };
 %}
 
@@ -1022,7 +973,9 @@ struct SBAS_SolverOptions
             SWIG_NewPointerObj(&geomat_.W,
               $descriptor(Matrix<FloatT, Array2D_Dense<FloatT>, MatrixViewBase<> > *), 0),
             SWIG_NewPointerObj(&geomat_.delta_r,
-              $descriptor(Matrix<FloatT, Array2D_Dense<FloatT>, MatrixViewBase<> > *), 0)};
+              $descriptor(Matrix<FloatT, Array2D_Dense<FloatT>, MatrixViewBase<> > *), 0),
+            SWIG_NewPointerObj(&res,
+              $descriptor(GPS_User_PVT<FloatT> *), 0)};
         proc_call_throw_if_error(hook, sizeof(values) / sizeof(values[0]), values);
       }while(false);
 #endif
@@ -1075,6 +1028,116 @@ struct SBAS_SolverOptions
     }
   }
   %fragment("hook"{GPS_Solver<FloatT>});
+  %ignore update_correction;
+#ifdef SWIGRUBY
+  %fragment("correction"{GPS_Solver<FloatT>}, "header",
+      fragment=SWIG_From_frag(int),
+      fragment=SWIG_Traits_frag(FloatT)){
+    template<>
+    VALUE GPS_Solver<FloatT>::update_correction(
+        const bool &update, const VALUE &hash){
+      typedef range_correction_list_t list_t;
+      static const VALUE k_root[] = {
+        ID2SYM(rb_intern("gps_ionospheric")),
+        ID2SYM(rb_intern("gps_tropospheric")),
+        ID2SYM(rb_intern("sbas_ionospheric")),
+        ID2SYM(rb_intern("sbas_tropospheric")),
+      };
+      static const VALUE k_opt(ID2SYM(rb_intern("options")));
+      static const VALUE k_f_10_7(ID2SYM(rb_intern("f_10_7")));
+      static const VALUE k_known(ID2SYM(rb_intern("known")));
+      struct {
+        VALUE sym;
+        list_t::mapped_type::value_type obj;
+      } item[] = {
+        {ID2SYM(rb_intern("no_correction")), &base_t::no_correction},
+        {ID2SYM(rb_intern("klobuchar")), &this->gps.solver.ionospheric_klobuchar},
+        {ID2SYM(rb_intern("ntcm_gl")), &this->gps.solver.ionospheric_ntcm_gl},
+        {ID2SYM(rb_intern("hopfield")), &this->gps.solver.tropospheric_simplified},
+        {ID2SYM(rb_intern("sbas_igp")), &this->sbas.solver.ionospheric_sbas},
+        {ID2SYM(rb_intern("sbas_tropo")), &this->sbas.solver.tropospheric_sbas},
+      };
+      list_t input;
+      if(update){
+        if(!RB_TYPE_P(hash, T_HASH)){
+          throw std::runtime_error(
+              std::string("Hash is expected, however ").append(inspect_str(hash)));
+        }
+        for(std::size_t i(0); i < sizeof(k_root) / sizeof(k_root[0]); ++i){
+          VALUE ary = rb_hash_lookup(hash, k_root[i]);
+          if(NIL_P(ary)){continue;}
+          if(!RB_TYPE_P(ary, T_ARRAY)){
+            ary = rb_ary_new_from_values(1, &ary);
+          }
+          for(int j(0); j < RARRAY_LEN(ary); ++j){
+            std::size_t k(0);
+            VALUE v(rb_ary_entry(ary, j));
+            for(; k < sizeof(item) / sizeof(item[0]); ++k){
+              if(v == item[k].sym){break;}
+            }
+            if(k >= sizeof(item) / sizeof(item[0])){
+              continue; // TODO other than symbol
+            }
+            input[i].push_back(item[k].obj);
+          }
+        }
+        VALUE opt(rb_hash_lookup(hash, k_opt));
+        if(RB_TYPE_P(opt, T_HASH)){
+          swig::asval(rb_hash_lookup(opt, k_f_10_7), // ntcm_gl
+              &this->gps.solver.ionospheric_ntcm_gl.f_10_7);
+        }
+      }
+      list_t output(update_correction(update, input));
+      VALUE res = rb_hash_new();
+      for(list_t::const_iterator it(output.begin()), it_end(output.end());
+          it != it_end; ++it){
+        VALUE k;
+        if((it->first < 0) || (it->first >= (int)(sizeof(k_root) / sizeof(k_root[0])))){
+          k = SWIG_From(int)(it->first);
+        }else{
+          k = k_root[it->first];
+        }
+        VALUE v = rb_ary_new();
+        for(list_t::mapped_type::const_iterator
+              it2(it->second.begin()), it2_end(it->second.end());
+            it2 != it2_end; ++it2){
+          std::size_t i(0);
+          for(; i < sizeof(item) / sizeof(item[0]); ++i){
+            if(*it2 == item[i].obj){break;}
+          }
+          if(i >= sizeof(item) / sizeof(item[0])){
+            continue; // TODO other than built-in corrector
+          }
+          rb_ary_push(v, item[i].sym);
+        }
+        rb_hash_aset(res, k, v);
+      }
+      { // common options
+        VALUE opt = rb_hash_new();
+        rb_hash_aset(res, k_opt, opt);
+        rb_hash_aset(opt, k_f_10_7, // ntcm_gl 
+            swig::from(this->gps.solver.ionospheric_ntcm_gl.f_10_7));
+      }
+      { // known models
+        VALUE ary = rb_ary_new_capa((int)(sizeof(item) / sizeof(item[0])));
+        for(std::size_t i(0); i < sizeof(item) / sizeof(item[0]); ++i){
+          rb_ary_push(ary, item[i].sym);
+        }
+        rb_hash_aset(res, k_known, ary);
+      }
+      return res;
+    }
+  }
+  %fragment("correction"{GPS_Solver<FloatT>});
+  %rename("correction") get_correction;
+  %rename("correction=") set_correction;
+  VALUE get_correction() const {
+    return const_cast<GPS_Solver<FloatT> *>(self)->update_correction(false, Qnil);
+  }
+  VALUE set_correction(VALUE hash){
+    return self->update_correction(true, hash);
+  }
+#endif
 }
 %inline {
 template <class FloatT>
@@ -1105,11 +1168,20 @@ struct GPS_Solver
   }
 #endif
   GPS_Solver() : super_t(), gps(), sbas(), hooks() {
-    gps.solver.space_node_sbas = &sbas.space_node;
-    sbas.solver.space_node_gps = &gps.space_node;
 #ifdef SWIGRUBY
     hooks = rb_hash_new();
 #endif
+    typename base_t::range_correction_t ionospheric, tropospheric;
+    ionospheric.push_back(&sbas.solver.ionospheric_sbas);
+    ionospheric.push_back(&gps.solver.ionospheric_klobuchar);
+    tropospheric.push_back(&sbas.solver.tropospheric_sbas);
+    tropospheric.push_back(&gps.solver.tropospheric_simplified);
+    gps.solver.ionospheric_correction
+        = sbas.solver.ionospheric_correction
+        = ionospheric;
+    gps.solver.tropospheric_correction
+        = sbas.solver.tropospheric_correction
+        = tropospheric;
   }
   GPS_SpaceNode<FloatT> &gps_space_node() {return gps.space_node;}
   GPS_SolverOptions<FloatT> &gps_options() {return gps.options;}
@@ -1149,6 +1221,40 @@ struct GPS_Solver
     const_cast<sbas_t &>(sbas).solver.update_options(sbas.options);
     return super_t::solve().user_pvt(measurement.items, receiver_time);
   }
+  typedef 
+      std::map<int, std::vector<const typename base_t::range_corrector_t *> >
+      range_correction_list_t;
+  range_correction_list_t update_correction(
+      const bool &update,
+      const range_correction_list_t &list = range_correction_list_t()){
+    range_correction_list_t res;
+    typename base_t::range_correction_t *root[] = {
+      &gps.solver.ionospheric_correction,
+      &gps.solver.tropospheric_correction,
+      &sbas.solver.ionospheric_correction,
+      &sbas.solver.tropospheric_correction,
+    };
+    for(std::size_t i(0); i < sizeof(root) / sizeof(root[0]); ++i){
+      do{
+        if(!update){break;}
+        typename range_correction_list_t::const_iterator it(list.find(i));
+        if(it == list.end()){break;}
+        root[i]->clear();
+        for(typename range_correction_list_t::mapped_type::const_iterator
+              it2(it->second.begin()), it2_end(it->second.end());
+            it2 != it2_end; ++it2){
+          root[i]->push_back(*it2);
+        }
+      }while(false);
+      for(typename base_t::range_correction_t::const_iterator
+            it(root[i]->begin()), it_end(root[i]->end());
+          it != it_end; ++it){
+        res[i].push_back(*it);
+      }
+    }
+    return res;
+  }
+  SWIG_Object update_correction(const bool &update, const SWIG_Object &hash);
 };
 }
 

data/ext/ninja-scan-light/tool/swig/SylphideMath.i

@@ -238,6 +238,23 @@ INSTANTIATE_COMPLEX(double, D);
 
 #undef INSTANTIATE_COMPLEX
 
+#if defined(SWIGRUBY)
+/* Work around of miss detection of negative value on Windows Ruby (devkit). 
+ * This results from SWIG_AsVal(unsigned int) depends on SWIG_AsVal(unsigned long), 
+ * and sizeof(long) == sizeof(int).
+ */
+%fragment("check_value"{unsigned int}, "header"){
+  inline bool is_lt_zero_after_asval(const unsigned int &i){
+    return ((sizeof(unsigned int) == sizeof(unsigned long)) && ((UINT_MAX >> 1) <= i));
+  }
+  void raise_if_lt_zero_after_asval(const unsigned int &i){
+    if(is_lt_zero_after_asval(i)){
+      SWIG_exception(SWIG_ValueError, "Expected positive value.");
+    }
+  } 
+}
+#endif
+
 #define DO_NOT_INSTANTIATE_SCALAR_MATRIX
 #define USE_MATRIX_VIEW_FILTER
 
@@ -949,6 +966,7 @@ MAKE_TO_S(Matrix_Frozen)
   }
 #if defined(SWIGRUBY)
   %fragment(SWIG_AsVal_frag(unsigned int));
+  %fragment("check_value"{unsigned int});
   Matrix(const void *replacer){
     const SWIG_Object *value(static_cast<const SWIG_Object *>(replacer));
     static const ID id_r(rb_intern("row_size")), id_c(rb_intern("column_size"));
@@ -959,13 +977,10 @@ MAKE_TO_S(Matrix_Frozen)
       MatrixUtil::replace(res, replacer);
       return new Matrix<T, Array2D_Type, ViewType>(res);
     }else if(value && rb_respond_to(*value, id_r) && rb_respond_to(*value, id_c)){
-      /* "unsigned" is remove because SWIG_AsVal(unsigned int)
-       * can not detect less than zero in Windows Ruby devkit.
-       */
-      int r, c; 
+      unsigned int r, c; 
       VALUE v_r(rb_funcall(*value, id_r, 0, 0)), v_c(rb_funcall(*value, id_c, 0, 0));
-      if(!SWIG_IsOK(SWIG_AsVal(int)(v_r, &r)) || (r < 0)
-          || !SWIG_IsOK(SWIG_AsVal(int)(v_c, &c)) || (c < 0)){
+      if(!SWIG_IsOK(SWIG_AsVal(unsigned int)(v_r, &r)) || is_lt_zero_after_asval(r)
+          || !SWIG_IsOK(SWIG_AsVal(unsigned int)(v_c, &c)) || is_lt_zero_after_asval(c)){
         throw std::runtime_error(
             std::string("Unexpected length [")
               .append(inspect_str(v_r)).append(", ")
@@ -1147,6 +1162,8 @@ INSTANTIATE_MATRIX_EIGEN2(type, ctype, Array2D_Dense<type >, MatView_pt);
 #endif
 
 %define INSTANTIATE_MATRIX(type, suffix)
+%typemap(check, fragment="check_value"{unsigned int})
+    const unsigned int & "raise_if_lt_zero_after_asval(*$1);"
 #if !defined(DO_NOT_INSTANTIATE_SCALAR_MATRIX)
 %extend Matrix_Frozen<type, Array2D_ScaledUnit<type >, MatViewBase> {
   const Matrix_Frozen<type, Array2D_ScaledUnit<type >, MatViewBase> &transpose() const {
@@ -1200,6 +1217,35 @@ INSTANTIATE_MATRIX_PARTIAL(type, Array2D_Dense<type >, MatView_pt, MatView_pt);
 %template(Matrix_Frozen ## suffix ## _pt) Matrix_Frozen<type, Array2D_Dense<type >, MatView_pt>;
 #endif
 
+%extend Matrix<type, Array2D_Dense<type > > {
+#if defined(SWIGRUBY)
+  %bang resize;
+#endif
+  %typemap(in, fragment="check_value"{unsigned int}) 
+      unsigned int *r_p (unsigned int temp), unsigned int *c_p (unsigned int temp) {
+    if(SWIG_IsOK(SWIG_AsVal(unsigned int)($input, &temp))){
+#if defined(SWIGRUBY)
+      raise_if_lt_zero_after_asval(temp);
+#endif
+      $1 = &temp;
+    }
+#if defined(SWIGRUBY)
+    else if(NIL_P($input)){$1 = NULL;}
+#endif
+    else{SWIG_exception(SWIG_TypeError, "$*1_ltype is expected");}
+  }
+  Matrix<type, Array2D_Dense<type > > &resize(
+      const unsigned int *r_p, const unsigned int *c_p){
+    unsigned int r(r_p ? *r_p : $self->rows()), c(c_p ? *c_p : self->columns());
+    Matrix<type, Array2D_Dense<type > > mat_new(r, c);
+    unsigned int r_min(r), c_min(c);
+    if(r_min > $self->rows()){r_min = $self->rows();}
+    if(c_min > $self->columns()){c_min = $self->columns();}
+    mat_new.partial(r_min, c_min).replace($self->partial(r_min, c_min), false);
+    return (*($self) = mat_new);
+  }
+};
+
 %template(Matrix ## suffix) Matrix<type, Array2D_Dense<type > >;
 #if defined(SWIGRUBY)
 %fragment("init"{Matrix<type, Array2D_Dense<type > >}, "init") {
@@ -1212,6 +1258,7 @@ INSTANTIATE_MATRIX_PARTIAL(type, Array2D_Dense<type >, MatView_pt, MatView_pt);
 }
 %fragment("init"{Matrix<type, Array2D_Dense<type > >});
 #endif
+%typemap(check) const unsigned int &;
 %enddef
 
 INSTANTIATE_MATRIX(double, D);

data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb

@@ -221,7 +221,11 @@ __RINEX_OBS_TEXT__
       f.path
     },
   }}
-  let(:solver){GPS::Solver::new}
+  let(:solver){
+    res = GPS::Solver::new
+    res.correction = {:gps_ionospheric => :klobuchar, :gps_tropospheric => :hopfield}
+    res
+  }
   
   describe 'demo' do
     it 'calculates position without any error' do
@@ -255,7 +259,6 @@ __RINEX_OBS_TEXT__
       [:alpha, :beta].each{|k|
         puts "Iono #{k}: #{sn.iono_utc.send(k)}"
       }
-      puts solver.gps_options.ionospheric_models
       
       meas.each{|prn, k, v|
         eph = sn.ephemeris(prn)
@@ -336,6 +339,15 @@ __RINEX_OBS_TEXT__
     
     it 'can be modified through hooks' do
       sn = solver.gps_space_node
+      expect(solver.correction[:gps_ionospheric]).to include(:klobuchar)
+      expect(solver.correction[:gps_tropospheric]).to include(:hopfield)
+      expect{solver.correction = nil}.to raise_error(RuntimeError)
+      expect{solver.correction = {
+        :gps_ionospheric => [:klobuchar, :no_correction],
+        :options => {:f_10_7 => 10},
+      }}.not_to raise_error
+      expect(solver.correction[:gps_ionospheric]).to include(:no_correction)
+      expect(solver.correction[:options][:f_10_7]).to eq(10)
       sn.read(input[:rinex_nav])
       t_meas = GPS::Time::new(1849, 172413)
       sn.update_all_ephemeris(t_meas)
@@ -349,11 +361,13 @@ __RINEX_OBS_TEXT__
         weight = 1
         [weight, range_c, range_r, rate_rel_neg] + los_neg
       }
-      solver.hooks[:update_position_solution] = proc{|*mats|
-        mats.each{|mat|
+      solver.hooks[:update_position_solution] = proc{|mat_G, mat_W, mat_delta_r, temp_pvt|
+        expect(temp_pvt).to be_a_kind_of(GPS::PVT)
+        [mat_G, mat_W, mat_delta_r].each{|mat|
           expect(mat).to be_a_kind_of(SylphideMath::MatrixD)
+          expect(mat.rows).to be >= temp_pvt.used_satellites
+          expect(mat).to respond_to(:resize!)
         }
-        mat_G, mat_W, mat_delta_r = mats
       }
       solver.hooks[:satellite_position] = proc{
         i = 0

data/ext/ninja-scan-light/tool/swig/spec/SylphideMath_spec.rb

@@ -19,6 +19,12 @@ shared_examples 'Matrix' do
       expect( mat_type::new(*params[:rc]).rows ).to equal(params[:rc][0])
       expect( mat_type::new(*params[:rc]).columns ).to equal(params[:rc][1])
     end
+    it 'declines negative number argument' do
+      [[-1, 1], [1, -1]].each{|sf|
+        r, c = params[:rc].zip(sf).collect{|v1, v2| v1 * v2}
+        expect{ mat_type::new(r, c) }.to raise_error(ArgumentError)
+      }
+    end
     it 'accepts ([[]])' do
       expect{ mat_type::new(compare_with) }.not_to raise_error
       expect( mat_type::new(compare_with).rows ).to equal(params[:rc][0])
@@ -44,9 +50,11 @@ shared_examples 'Matrix' do
       a.define_singleton_method(:[]){|i, j| raise(IndexError) if i != j; 0}
       expect{ mat_type::new(a) }.to raise_error(IndexError)
 
-      a = a_gen.call
-      a.define_singleton_method(:row_size){-1}
-      expect{ mat_type::new(a) }.to raise_error(RuntimeError)
+      [:row_size, :column_size].each{|f|
+        a = a_gen.call
+        a.define_singleton_method(f){-1}
+        expect{ mat_type::new(a) }.to raise_error(RuntimeError)
+      }
     end
     it 'is invoked with I, identity, unit' do
       [:I, :identity, :unit].each{|f|
@@ -132,7 +140,7 @@ shared_examples 'Matrix' do
         expect(mat[:square].sum).to eq(Matrix[*mat[:square].to_a].sum)
         expect(mat[:not_square].sum).to eq(Matrix[*mat[:not_square].to_a].sum)
       end
-      it 'determinat, det' do
+      it 'determinant, det' do
         [:determinant, :det].each{|f|
           #expect(mat[:square].send(f)).to eq(Matrix[*mat[:square].to_a].det)
           expect{mat[:not_square].send(f)}.to raise_error(RuntimeError)
@@ -163,6 +171,15 @@ shared_examples 'Matrix' do
         }
       }
     end
+    it 'is inaccessible and unchangeable with negative number arguments' do
+      [[-1, 0], [0, -1]].each{|i, j|
+        [[:[], i, j], [:[]=, i, j, 0]].each{|args|
+          expect{ mat[0].send(*args) }.to raise_error{|err|
+            expect(err).to be_a(RangeError).or be_a(ArgumentError)
+          }
+        }
+      }
+    end
   end
   
   describe 'elements' do
@@ -394,6 +411,23 @@ shared_examples 'Matrix' do
       }
       expect{mat[2] / mat[3]}.to raise_error(RuntimeError)
     end
+    it 'have resize!' do
+      [-1, :sym].each{|arg|
+        [[arg, nil], [nil, arg]].each{|args|
+          expect{mat[0].resize!(*args)}.to raise_error{|err|
+            expect(err).to be_a(TypeError).or be_a(ArgumentError)
+          }
+        }
+      }
+      mat_orig = mat[0].to_a
+      r, c = [:rows, :columns].collect{|f| mat[0].send(f)}
+      expect(mat[0].resize!(r, c).to_a).to eq(mat_orig)
+      expect(mat[0].resize!(r, nil).to_a).to eq(mat_orig)
+      expect(mat[0].resize!(nil, c).to_a).to eq(mat_orig)
+      expect(mat[0].resize!(nil, nil).to_a).to eq(mat_orig)
+      expect(mat[0].resize!(r * 2, c * 2).to_a).to \
+          eq(Matrix::build(r * 2, c * 2){|i, j| (i < r && j < c) ? mat_orig[i][j] : 0}.to_a)
+    end
   end
   
   describe 'decomposition' do

data/gps_pvt.gemspec

@@ -0,0 +1,63 @@
+# frozen_string_literal: true
+
+require_relative "lib/gps_pvt/version"
+
+Gem::Specification.new do |spec|
+  spec.name = "gps_pvt"
+  spec.version = GPS_PVT::VERSION
+  spec.authors = ["fenrir(M.Naruoka)"]
+  spec.email = ["fenrir.naru@gmail.com"]
+
+  spec.summary = "GPS position, velocity, and time (PVT) solver"
+  spec.description = "This module calculate PVT by using raw observation obtained from a GPS receiver"
+  spec.homepage = "https://github.com/fenrir-naru/gps_pvt"
+  spec.required_ruby_version = ">= 2.3.0"
+
+  #spec.metadata["allowed_push_host"] = "TODO: Set to your gem server 'https://example.com'"
+
+  spec.metadata["homepage_uri"] = spec.homepage
+  spec.metadata["source_code_uri"] = spec.homepage
+  #spec.metadata["changelog_uri"] = "TODO: Put your gem's CHANGELOG.md URL here."
+    
+  spec.extensions = ["ext/gps_pvt/extconf.rb"]
+
+  # Specify which files should be added to the gem when it is released.
+  # The `git ls-files -z` loads the files in the RubyGem that have been added into git.
+  spec.files = Dir.chdir(File.expand_path(__dir__)) do
+    `git ls-files -z`.split("\x0").reject do |f|
+      (f == __FILE__) || f.match(%r{\A(?:(?:test|spec|features)/|\.(?:git|travis|circleci)|appveyor)})
+    end
+  end
+  spec.bindir = "exe"
+  spec.executables = spec.files.grep(%r{\Aexe/}) { |f| File.basename(f) }
+  spec.require_paths = ["lib"]
+  
+  spec.files += proc{
+    require 'pathname'
+    base_dir = Pathname::new(File::absolute_path(File.dirname(__FILE__)))
+    # get an array of submodule dirs by executing 'pwd' inside each submodule
+    `git submodule --quiet foreach pwd`.split($/).collect{|dir|
+      # issue git ls-files in submodule's directory
+      `git -C #{dir} ls-files -v`.split($/).collect{|f|
+        next nil unless f =~ /^H */ # consider git sparse checkout
+        # get relative path
+        f = Pathname::new(File::join(dir, $'))
+        begin
+          (f.relative? ? f : f.relative_path_from(base_dir)).to_s
+        rescue
+          # Patch for Windows drive letter problem
+          base_dir = Pathname::new(base_dir.to_s.sub(/^([^\/])+:\//){"/#{$1}/"})
+          f.relative_path_from(base_dir).to_s
+        end
+      }.compact
+    }.flatten
+  }.call
+
+  # Uncomment to register a new dependency of your gem
+  # spec.add_dependency "example-gem", "~> 1.0"
+  spec.add_development_dependency "rake"
+  spec.add_development_dependency "rake-compiler"
+
+  # For more information and examples about making a new gem, checkout our
+  # guide at: https://bundler.io/guides/creating_gem.html
+end