Template Function navtk::navutils::rot_vec_to_dcm(const B&)

• Defined in File navigation.hpp

Function Documentation

template<typename B = Matrix, IfTensorOfDim<B, 2>* = nullptr>
Tensor<3> navtk::navutils::rot_vec_to_dcm(const B &phi)

Batched version of rot_vec_to_dcm.

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

See also

rot_vec_to_dcm

See also

Coordinate Frames for more details on the rotation vector and DCM representations of attitude.

Template Parameters

• B – Type of input, initializer list by default.

• std::enable_if_t<> – Constrains B to be 2 dimensional.

Parameters

phi – Rotation vectors such that rotating the A frame about phi yields the B frame, shape (N, 3). Can accept an initializer list.

Returns

dcms Direction cosine matrices from B to A, that is the DCM that rotates a vector expressed in the B frame into the A frame, shape (N, 3, 3)