Template Function navtk::inertial::calc_force_and_acceleration_offset(const B1&, const B2&, const B3&, const B4&, const B5&, const B6&, const B7&, const B8&, double)

Function Documentation

template<typename B1 = Vector, typename B2 = Vector, typename B3 = Vector, typename B4 = Vector, typename B5 = Matrix, typename B6 = Vector, typename B7 = Vector, typename B8 = Matrix, IfAnyConditions<TENSORS_HAVE_MAX_DIM<1, B1, B2, B3, B4, B6, B7>, TENSORS_HAVE_MAX_DIM<2, B5, B8>>* = nullptr>
Matrix navtk::inertial::calc_force_and_acceleration_offset(const B1 &r_e, const B2 &r_n, const B3 &alt0, const B4 &cos_l, const B5 &g, const B6 &sec_l, const B7 &sin_l, const B8 &v_ned0, double omega = navutils::ROTATION_RATE)

Batched version of calc_force_and_acceleration_offset.

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

See also

calc_force_and_acceleration_offset

Template Parameters

  • B1 – Type of r_e.

  • B2 – Type of r_n.

  • B3 – Type of alt0.

  • B4 – Type of cos_l.

  • B5 – Type of g.

  • B6 – Type of sec_l.

  • B7 – Type of sin_l.

  • B8 – Type of v_ned0.

  • std::enable_if_t<> – Constrains the max dimension of B1, B2, B3, B4, B6, and B7 to be 1 or the max dimension of B5 and B8 to be 2.

Parameters

  • r_e – east_distances, shape (N). Can accept initializer lists or a double as well.

  • r_n – north_distances, shape (N). Can accept initializer lists or a double as well.

  • alt0 – The inertial’s current ellipsoidal altitudes, m, shape (N). Can accept initializer lists or a double as well.

  • cos_l – Cosines of inertial latitudes, shape (N). Can accept initializer lists or a double as well.

  • g – Estimated local gravities along North, East and Down axes, m/s^2, shape (N, 3). Can accept initializer lists or a Vector as well.

  • sec_l – Secants of inertial latitudes, shape (N). Can accept initializer lists or a double as well.

  • sin_l – Sines of inertial latitudes, shape (N). Can accept initializer lists or a double as well.

  • v_ned0 – Inertial velocities in the NED frame, m/s, shape (N, 3). Can accept initializer lists or a Vector as well.

  • omega – Earth rotation rate, rad/s.

Returns

The offsets between NED forces and accelerations such that forces + offset = accelerations, shape (N, 3)