Function navtk::navutils::d_platform_to_sensor_pos_wrt_q

• Defined in File derivatives.hpp

Function Documentation

Matrix navtk::navutils::d_platform_to_sensor_pos_wrt_q(const Vector4 &q_p_to_n, const Vector3 &l_ps_p)

Derivative of a ‘platform to sensor’ position lever arm correction, wrt the reference to platform quaternion.

Parameters

• q_p_to_n – Reference to platform quaternion.

• l_ps_p – Platform to sensor lever arm, in the platform frame (meters).

Returns

Derivative (3x4) of the position translation, wrt q_p_to_n.