.. _program_listing_file_src_navtk_inertial_mechanization_wander.hpp:

Program Listing for File mechanization_wander.hpp
=================================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <memory>
   
   #include <navtk/inertial/AidingAltData.hpp>
   #include <navtk/inertial/InertialPosVelAtt.hpp>
   #include <navtk/inertial/MechanizationOptions.hpp>
   #include <navtk/not_null.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace inertial {
   
   std::tuple<Matrix3, double, Vector3, Matrix3> mechanization_wander(
       const Vector3& dv_s,
       const Vector3& dth_s,
       double dt,
       const Matrix3& C_n_to_e_0,
       double h0,
       const Vector3& v_n_0,
       const Matrix3& C_s_to_l_0,
       const MechanizationOptions& mech_options = MechanizationOptions{},
       AidingAltData* aiding_alt_data           = nullptr);
   
   not_null<std::shared_ptr<InertialPosVelAtt>> mechanization_wander(
       const Vector3& dv_s,
       const Vector3& dth_s,
       double dt,
       const not_null<std::shared_ptr<InertialPosVelAtt>> pva,
       const not_null<std::shared_ptr<InertialPosVelAtt>>,
       const MechanizationOptions& mech_options = MechanizationOptions{},
       AidingAltData* aiding_alt_data           = nullptr);
   }  // namespace inertial
   }  // namespace navtk