Specialized Template Function navtk::filtering::apply_error_states< Pinson15NedBlock >(const not_null<std::shared_ptr<inertial::InertialPosVelAtt>>&, const Vector&)

• Defined in File apply_error_states.hpp

Function Documentation

template<>
not_null<std::shared_ptr<inertial::InertialPosVelAtt>> navtk::filtering::apply_error_states<Pinson15NedBlock>(const not_null<std::shared_ptr<inertial::InertialPosVelAtt>> &pva, const Vector &x)

Correct an inertial::InertialPosVelAtt pointer with a Pinson15NedBlock error state vector.

Parameters

• pva – inertial::InertialPosVelAtt pointer.

• x – Error state Vector, where the first 9 states are north, east and down position error in meters; north, east and down velocity error in m/s, and north, east and down tilt errors in radians. Additional states are unused in the correction.

Returns

Corrected inertial::InertialPosVelAtt; pointer is not the same as pva.