.. _program_listing_file_src_navtk_inertial_WanderPosVelAtt.hpp:

Program Listing for File WanderPosVelAtt.hpp
============================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/aspn.hpp>
   #include <navtk/inertial/InertialPosVelAtt.hpp>
   #include <navtk/linear_algebra.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   class WanderPosVelAtt : public InertialPosVelAtt {
   public:
       WanderPosVelAtt(
           const aspn_xtensor::TypeTimestamp& time = aspn_xtensor::TypeTimestamp((int64_t)0),
           Matrix3 C_n_to_e                        = eye(3),
           double alt                              = 0.0,
           Vector3 vn                              = zeros(3),
           Matrix3 C_s_to_l                        = eye(3),
           AspnMessageType message_type            = ASPN_EXTENDED_BEGIN);
   
       WanderPosVelAtt(const aspn_xtensor::TypeTimestamp& time,
                       const std::tuple<Matrix3, double, Vector3, Matrix3>& tup,
                       AspnMessageType message_type = ASPN_EXTENDED_BEGIN);
   
       std::shared_ptr<InertialPosVelAtt> clone() const override;
   
       Vector3 get_llh() const override;
   
       Vector3 get_vned() const override;
   
       Matrix3 get_C_s_to_ned() const override;
   
       std::pair<Matrix3, double> get_C_n_to_e_h() const override;
   
       Vector3 get_vn() const override;
   
       Matrix3 get_C_s_to_l() const override;
   
       bool is_wander_capable() const override { return true; }
   
   private:
       Matrix3 C_n_to_e;
       double h;
       Vector3 vn;
       Matrix3 C_s_to_l;
   };
   
   }  // namespace inertial
   }  // namespace navtk