update ANISE v0.8 (#113)

* update anise v0.8
* lints
* update nalgebra
---------

Signed-off-by: Guillaume W. Bres <guillaume.bressaix@gmail.com>

Author: gwbres

.github/workflows/daily.yml

@@ -19,7 +19,7 @@ jobs:
     - uses: actions-rs/toolchain@v1
       name: Install Rust
       with:
-        toolchain: 1.82.0
+        toolchain: 1.89.0
         override: true
 
     - name: Build

.github/workflows/rust.yml

@@ -30,7 +30,7 @@ jobs:
     - uses: actions-rs/toolchain@v1
       name: Install Rust
       with:
-        toolchain: 1.82.0
+        toolchain: 1.89.0
         override: true
 
     - name: Build

Cargo.toml

@@ -8,7 +8,7 @@ homepage = "https://github.com/nav-solutions/gnss-rtk"
 repository = "https://github.com/nav-solutions/gnss-rtk"
 keywords = ["timing", "positioning", "gps", "glonass", "galileo"]
 categories = ["science", "science::geo"]
-edition = "2021"
+edition = "2024"
 readme = "README.md"
 exclude = [
     "examples_need_update/*",
@@ -26,21 +26,26 @@ serde = [
     "hifitime/serde"
 ]
 
-[dev-dependencies]
-rstest = "0.25"
-serde_json = "1"
-env_logger = "0.11"
-rand = { version = "0.9", features = ["small_rng"] }
-anise = { version = "0.5.3", features = ["embed_ephem"] }
+[dependencies.gnss-rs]
+git = "https://github.com/nav-solutions/gnss"
+rev = "dc4d4c2d413a3be90a3fa08a6ab29079eec13923"
+features = ["std", "domes", "cospar", "sbas"]
 
 [dependencies]
 log = "0.4"
 thiserror = "2"
-nalgebra = "0.33"
+nalgebra = "0.34"
 itertools = "0.14"
 polyfit-rs = "0.2"
-gnss-rs = "2.5"
-anise = "0.5.3"
+anise = "0.8"
 num-traits = "0.2"
-hifitime = { version = "4.1", features = ["serde", "std"] }
+hifitime = { version = "4", features = ["serde", "std"] }
 serde = { version = "1", optional = true, default-features = false, features = ["derive"] }
+
+[dev-dependencies]
+rstest = "0.25"
+serde_json = "1"
+env_logger = "0.11"
+rand = { version = "0.9", features = ["small_rng"] }
+anise = { version = "0.8", features = ["embed_ephem"] }
+

src/bancroft.rs

@@ -134,7 +134,7 @@ impl Bancroft {
 
 #[cfg(test)]
 mod test {
-    use super::{lorentz_4_4, Bancroft};
+    use super::{Bancroft, lorentz_4_4};
     use nalgebra::Vector4;
 
     #[test]

src/bias/mod.rs

@@ -4,7 +4,7 @@ pub mod environment;
 /// Spaceborn (onboard) biases
 pub mod spaceborn;
 
-use crate::prelude::{Epoch, Vector3, SV};
+use crate::prelude::{Epoch, SV, Vector3};
 
 /// [BiasRuntime] contains everything to compute your [Bias] estimate.
 #[derive(Default, Copy, Clone)]

src/candidate/mod.rs

@@ -8,7 +8,7 @@ use crate::{
     bias::spaceborn::SatelliteClockCorrection,
     constants::SPEED_OF_LIGHT_M_S,
     navigation::state::State,
-    prelude::{Almanac, Config, Duration, Epoch, Error, Orbit, Vector3, SV},
+    prelude::{Almanac, Config, Duration, Epoch, Error, Orbit, SV, Vector3},
 };
 
 use anise::errors::AlmanacResult;

src/candidate/single_diff.rs

@@ -88,7 +88,7 @@ mod test {
     use crate::{
         constants::SPEED_OF_LIGHT_M_S,
         prelude::{Carrier, Epoch},
-        tests::{init_logger, CandidatesBuilder, E01, E03, E05},
+        tests::{CandidatesBuilder, E01, E03, E05, init_logger},
     };
 
     #[test]

src/lib.rs

@@ -35,11 +35,11 @@ mod tests;
 pub mod prelude {
     pub use crate::{
         bias::{
+            BiasRuntime,
             environment::{
                 EnvironmentalBias, IonosphereBias, IonosphereModel, KbModel, TroposphereModel,
             },
             spaceborn::{SatelliteClockCorrection, SpacebornBias},
-            BiasRuntime,
         },
         candidate::{Candidate, Observation},
         carrier::{Carrier, Signal},

src/navigation/dop.rs

@@ -55,7 +55,7 @@ impl DilutionOfPrecision {
     pub fn new(state: &State, g_gt_inv: DMatrix<f64>) -> Self {
         let (nrows, ncols) = (g_gt_inv.nrows(), g_gt_inv.ncols());
 
-        assert!(nrows >= U3::USIZE, "incorrect (G.G)⁻¹ dimensions");
+        assert!(nrows >= U3::DIM, "incorrect (G.G)⁻¹ dimensions");
         assert_eq!(nrows, ncols, "(G.G)⁻¹ is not square");
 
         let (lat_rad, long_rad) = (
@@ -67,7 +67,7 @@ impl DilutionOfPrecision {
 
         Self {
             gdop: g_gt_inv.trace().sqrt(),
-            tdop: if nrows > U3::USIZE {
+            tdop: if nrows > U3::DIM {
                 g_gt_inv[(3, 3)].sqrt()
             } else {
                 0.0

src/navigation/kalman.rs

@@ -1,7 +1,7 @@
 use crate::error::Error;
 
 use nalgebra::{
-    allocator::Allocator, DMatrix, DVector, DefaultAllocator, DimName, OMatrix, OVector,
+    DMatrix, DVector, DefaultAllocator, DimName, OMatrix, OVector, allocator::Allocator,
 };
 
 #[derive(Clone)]
@@ -69,8 +69,8 @@ impl KfEstimate {
     //     assert_eq!(p_rows, p_cols, "P is not square!");
 
     //     Self {
-    //         x: DMatrix::from_column_slice(D::USIZE, U1::USIZE, x.as_slice()),
-    //         p: DMatrix::from_column_slice(D::USIZE, D::USIZE, p.as_slice()),
+    //         x: DMatrix::from_column_slice(D::DIM, U1::DIM, x.as_slice()),
+    //         p: DMatrix::from_column_slice(D::DIM, D::DIM, p.as_slice()),
     //     }
     // }
 
@@ -89,7 +89,7 @@ impl KfEstimate {
 
         Self {
             x: DVector::from_column_slice(x.as_slice()),
-            p: DMatrix::from_column_slice(D::USIZE, D::USIZE, p.as_slice()),
+            p: DMatrix::from_column_slice(D::DIM, D::DIM, p.as_slice()),
         }
     }
 }
@@ -133,7 +133,7 @@ impl Kalman {
         let p_k = f_k * estimate.p * f_k_t + q_k;
 
         let x_k = DVector::<f64>::from_row_slice(x_k.as_slice());
-        let p_k = DMatrix::<f64>::from_column_slice(D::USIZE, D::USIZE, p_k.as_slice());
+        let p_k = DMatrix::<f64>::from_column_slice(D::DIM, D::DIM, p_k.as_slice());
 
         self.predicted = KfEstimate::new(&x_k, &p_k);
         self.initialized = true;
@@ -311,13 +311,13 @@ mod test {
 
         let kfe = KfEstimate::from_static(x, p);
 
-        for i in 0..U6::USIZE {
+        for i in 0..U6::DIM {
             let x = kfe.x[i] as usize;
             assert_eq!(x, i + 1);
 
-            for j in 0..U6::USIZE {
+            for j in 0..U6::DIM {
                 let p = kfe.p[(i, j)] as usize;
-                assert_eq!(p, i + 1 + j * U6::USIZE);
+                assert_eq!(p, i + 1 + j * U6::DIM);
             }
         }
     }