.. _program_listing_file_src_navtk_inertial_inertial_functions.hpp:

Program Listing for File inertial_functions.hpp
===============================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/aspn.hpp>
   #include <navtk/inertial/AidingAltData.hpp>
   #include <navtk/navutils/wgs84.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   Vector3 calc_force_ned(const Matrix3& C_s_to_n, double dt, const Vector3& dth, const Vector3& dv);
   
   Vector3 calc_force_ned(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva1,
                          const aspn_xtensor::MeasurementPositionVelocityAttitude& pva2);
   
   Vector3 calc_rot_rate(const Matrix3& C_s_to_n0,
                         double r_e,
                         double r_n,
                         double alt0,
                         double cos_l,
                         double dt,
                         const Vector3& dth,
                         double sin_l,
                         double tan_l,
                         const Vector3& v_ned0,
                         double omega = navutils::ROTATION_RATE);
   
   Vector3 calc_rot_rate(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva,
                         double dt,
                         const Vector3& dth);
   
   
   // TODO: #690 Implement a more robust alternative which doesn't make a small angle assumption.
   Vector3 calc_rot_rate(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva1,
                         const aspn_xtensor::MeasurementPositionVelocityAttitude& pva2);
   
   double apply_aiding_alt_accel(double r_zero,
                                 Vector3* accel_vector,
                                 AidingAltData* aiding_alt_data,
                                 double alt0,
                                 double dt,
                                 const Vector3& g);
   
   Vector3 calc_force_and_acceleration_offset(double r_e,
                                              double r_n,
                                              double alt0,
                                              double cos_l,
                                              const Vector3& g,
                                              double sec_l,
                                              double sin_l,
                                              const Vector3& v_ned0,
                                              double omega = navutils::ROTATION_RATE);
   
   }  // namespace inertial
   }  // namespace navtk