.. _program_listing_file_src_navtk_navutils_derivatives.hpp:

Program Listing for File derivatives.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_navutils_derivatives.hpp>` (``src/navtk/navutils/derivatives.hpp``)

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace navutils {
   
   Matrix3 d_cen_wrt_lat(const Vector3& lla);
   
   Matrix3 d_cen_wrt_lon(const Vector3& lla);
   
   Matrix3 d_cns_wrt_r(const Vector3& rpy);
   
   Matrix3 d_cns_wrt_p(const Vector3& rpy);
   
   Matrix3 d_cns_wrt_y(const Vector3& rpy);
   
   Matrix3 d_llh_to_ecef_wrt_llh(const Vector3& llh);
   
   Matrix3 d_ecef_to_llh_wrt_ecef(const Vector3& ecef);
   
   Matrix3 d_cne_wrt_k(const Vector3& dk, const Vector3& llh);
   
   Matrix3 d_dcm_to_rpy(const Matrix3& a,
                        const Matrix3& dadx,
                        const Matrix3& dady,
                        const Matrix3& dadz,
                        const Matrix3& b,
                        const Matrix3& dbdx,
                        const Matrix3& dbdy,
                        const Matrix3& dbdz);
   
   Matrix3 d_dcm_to_rpy(const Matrix3& ab, const Matrix3& dx, const Matrix3& dy, const Matrix3& dz);
   
   Matrix3 d_rpy_tilt_corr_wrt_tilt(const Vector3& tilts, const Matrix3& C_nav_to_platform);
   
   Matrix3 d_rpy_correct_dcm_with_tilt_wrt_tilt(const Vector3& tilts,
                                                const Matrix3& C_nav_to_platform);
   
   Matrix d_quat_prop_wrt_r(const Vector4& q, const Vector3& r);
   
   Matrix d_quat_tilt_corr_wrt_tilt(const Vector4& q);
   
   Matrix d_llh_to_quat_en_wrt_llh(const Vector3& llh);
   
   Matrix d_quat_to_rpy_wrt_q(const Vector4& q);
   
   Matrix d_quat_norm_wrt_q(const Vector4& q);
   
   Matrix3 d_ortho_dcm_wrt_tilt(const Matrix3& C_nav_to_platform,
                                const Vector3& tilts,
                                const Matrix3& dtilt);
   Matrix3 d_rpy_to_dcm_wrt_r(const Vector3& rpy);
   
   Matrix3 d_rpy_to_dcm_wrt_p(const Vector3& rpy);
   
   Matrix3 d_rpy_to_dcm_wrt_y(const Vector3& rpy);
   
   Matrix d_sensor_to_platform_pos_wrt_q(const Vector4& q_s_to_n,
                                         const Vector3& l_ps_p,
                                         const Matrix3& C_p_to_s);
   
   Matrix d_platform_to_sensor_pos_wrt_q(const Vector4& q_p_to_n, const Vector3& l_ps_p);
   }  // namespace navutils
   }  // namespace navtk