.. _program_listing_file_src_navtk_inertial_InertialPosVelAtt.hpp:

Program Listing for File InertialPosVelAtt.hpp
==============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_inertial_InertialPosVelAtt.hpp>` (``src/navtk/inertial/InertialPosVelAtt.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   
   #include <navtk/aspn.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class InertialPosVelAtt : public aspn_xtensor::AspnBase {
   public:
       virtual ~InertialPosVelAtt() = default;
   
       virtual bool is_wander_capable() const = 0;
   
       virtual Vector3 get_llh() const = 0;
   
       virtual Vector3 get_vned() const = 0;
   
       virtual Matrix3 get_C_s_to_ned() const = 0;
   
       virtual std::pair<Matrix3, double> get_C_n_to_e_h() const = 0;
   
       virtual Vector3 get_vn() const = 0;
   
       virtual Matrix3 get_C_s_to_l() const = 0;
   
       virtual std::shared_ptr<InertialPosVelAtt> clone() const = 0;
   
       aspn_xtensor::TypeTimestamp time_validity;
   
   protected:
       InertialPosVelAtt(const aspn_xtensor::TypeTimestamp& t = aspn_xtensor::to_type_timestamp(),
                         AspnMessageType message_type         = ASPN_EXTENDED_BEGIN)
           : aspn_xtensor::TypeHeader(message_type, 0, 0, 0, 0), time_validity(t){};
   };
   
   }  // namespace inertial
   }  // namespace navtk