.. _program_listing_file_src_navtk_utils_conversions.hpp:

Program Listing for File conversions.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_navtk_utils_conversions.hpp>` (``src/navtk/utils/conversions.hpp``)

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

.. code-block:: cpp

   #pragma once
   
   #include <navtk/aspn.hpp>
   #include <navtk/filtering/containers/NavSolution.hpp>
   #include <navtk/inertial/InertialPosVelAtt.hpp>
   #include <navtk/inertial/StandardPosVelAtt.hpp>
   
   namespace navtk {
   namespace utils {
   
   constexpr uint64_t NANO_PER_SEC = 1'000'000'000;
   
   constexpr double SECONDS_PER_WEEK = (60 * 60 * 24 * 7);
   
   filtering::NavSolution to_navsolution(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva);
   
   filtering::NavSolution to_navsolution(const inertial::InertialPosVelAtt& pva);
   
   filtering::NavSolution to_navsolution(const Vector& pva);
   
   aspn_xtensor::MeasurementPositionVelocityAttitude to_positionvelocityattitude(
       const filtering::NavSolution& pva);
   
   aspn_xtensor::MeasurementPositionVelocityAttitude to_positionvelocityattitude(
       const inertial::InertialPosVelAtt& pva);
   
   aspn_xtensor::MeasurementPositionVelocityAttitude to_positionvelocityattitude(const Vector& pva);
   
   std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude> to_positionvelocityattitude(
       std::shared_ptr<inertial::InertialPosVelAtt> pva);
   
   void to_positionvelocityattitude(const inertial::InertialPosVelAtt& pva,
                                    aspn_xtensor::MeasurementPositionVelocityAttitude& storage);
   
   inertial::StandardPosVelAtt to_standardposvelatt(const filtering::NavSolution& pva);
   
   inertial::StandardPosVelAtt to_standardposvelatt(
       const aspn_xtensor::MeasurementPositionVelocityAttitude& pva);
   
   inertial::StandardPosVelAtt to_standardposvelatt(const Vector& pva);
   
   Vector to_vector_pva(const filtering::NavSolution& pva);
   
   Vector to_vector_pva(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva);
   
   Vector to_vector_pva(const inertial::InertialPosVelAtt& pva);
   
   aspn_xtensor::MeasurementPosition to_position(
       const aspn_xtensor::MeasurementPositionVelocityAttitude& pva);
   
   Vector3 extract_pos(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva);
   
   Vector3 extract_vel(const aspn_xtensor::MeasurementPositionVelocityAttitude& pva);
   
   Vector3 extract_pos(const aspn_xtensor::MeasurementPosition& pos);
   
   Vector3 extract_vel(const aspn_xtensor::MeasurementVelocity& vel);
   
   aspn_xtensor::MeasurementImu to_imu(
       aspn_xtensor::TypeTimestamp time = aspn_xtensor::to_type_timestamp(),
       const Vector& forces             = {NAN, NAN, NAN},
       const Vector& rates              = {NAN, NAN, NAN});
   AspnBaseVector to_inertial_aux(const filtering::NavSolution& nav_sol,
                                  const Vector& forces,
                                  const Vector& rates = zeros(3));
   
   AspnMeasurementPositionReferenceFrame convert_pva_to_pos_ref_frame(
       AspnMeasurementPositionVelocityAttitudeReferenceFrame r);
   }  // namespace utils
   }  // namespace navtk