Function navtk::navutils::d_sensor_to_platform_pos_wrt_q

Function Documentation

Matrix navtk::navutils::d_sensor_to_platform_pos_wrt_q(const Vector4 &q_s_to_n, const Vector3 &l_ps_p, const Matrix3 &C_p_to_s)

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

Parameters

  • q_s_to_n – Sensor to reference quaternion.

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

  • C_p_to_s – Platform to sensor orientation (sensor mount DCM).

Returns

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