.. _program_listing_file_src_navtk_navutils_leverarms.hpp:

Program Listing for File leverarms.hpp
======================================

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

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/factory.hpp>
   #include <navtk/navutils/navigation.hpp>
   #include <navtk/tensors.hpp>
   
   namespace navtk {
   namespace navutils {
   
   std::pair<Vector3, Matrix3> sensor_to_platform(const std::pair<Vector3, Matrix3>& sensor_pose,
                                                  const Vector3& platform_to_sensor_in_platform,
                                                  const Matrix3& C_platform_to_sensor,
                                                  const Matrix3& C_k_to_j = eye(3));
   
   std::pair<Vector3, Matrix3> platform_to_sensor(const std::pair<Vector3, Matrix3>& platform_pose,
                                                  const Vector3& platform_to_sensor_in_platform,
                                                  const Matrix3& C_platform_to_sensor,
                                                  const Matrix3& C_k_to_j = eye(3));
   
   std::pair<Vector3, Matrix3> obs_in_platform_to_sensor(
       const std::pair<Vector3, Matrix3>& obs_in_platform,
       const Vector3& platform_to_sensor_in_platform,
       const Matrix3& C_platform_to_sensor);
   
   std::pair<Vector3, Matrix3> obs_in_sensor_to_platform(
       const std::pair<Vector3, Matrix3>& obs_in_sensor,
       const Vector3& platform_to_sensor_in_platform,
       const Matrix3& C_platform_to_sensor);
   
   }  // namespace navutils
   }  // namespace navtk