Template Function navtk::inertial::calc_force_and_acceleration_offset(const S1&, const S2&, const S3&, const S4&, const S5&, const S6&, const S7&, const S8&, double)

Function Documentation

template<typename S1, typename S2, typename S3, typename S4, typename S5, typename S6, typename S7, typename S8, IfAllConditions<TENSORS_ARE_DIM<0, S1, S2, S3, S4, S6, S7>, TENSORS_ARE_DIM<1, S5, S8>>* = nullptr>
Vector3 navtk::inertial::calc_force_and_acceleration_offset(const S1 &r_e, const S2 &r_n, const S3 &alt0, const S4 &cos_l, const S5 &g, const S6 &sec_l, const S7 &sin_l, const S8 &v_ned0, double omega = navutils::ROTATION_RATE)

Calculates an offset that can be used to convert between NED forces and accelerations.

Template Parameters

  • S1 – Type of r_e.

  • S2 – Type of r_n.

  • S3 – Type of alt0.

  • S4 – Type of cos_l.

  • S5 – Type of g.

  • S6 – Type of sec_l.

  • S7 – Type of sin_l.

  • S8 – Type of v_ned0.

  • std::enable_if_t<> – Constrains S1, S2, S3, S4, S6, and S7 to be 0 dimensional and S5 and S8 to be 1 dimensional.

Parameters

  • r_e – east_distances.

  • r_n – north_distances.

  • alt0 – The inertial’s current ellipsoidal altitude, m.

  • cos_l – Cosine of inertial latitude.

  • g – Estimated local gravity along North, East and Down axes, m/s^2.

  • sec_l – Secant of inertial latitude.

  • sin_l – Sine of inertial latitude.

  • v_ned0 – Vector3 of inertial velocity in the NED frame, m/s.

  • omega – Earth rotation rate, rad/s.

Returns

The offset between NED forces and accelerations such that forces + offset = accelerations.