Function navtk::navutils::obs_in_sensor_to_platform
Defined in File leverarms.hpp
Function Documentation
-
std::pair<Vector3, Matrix3> navtk::navutils::obs_in_sensor_to_platform(const std::pair<Vector3, Matrix3> &obs_in_sensor, const Vector3 &platform_to_sensor_in_platform, const Matrix3 &C_platform_to_sensor)
Calculate the relative position and orientation of an observation in the platform frame from the same observation in some sensor frame.
\( \mathbf{C}^\text{O}_\text{P} = \mathbf{C}^\text{O}_\text{S} \mathbf{C}^\text{S}_\text{P} \)
\( \mathbf{p}^\text{P}_{\text{P}\to \text{O}} = \mathbf{p}^\text{P}_{\text{P}\to \text{S}} + \mathbf{C}^\text{P}_\text{S} \mathbf{p}^\text{S}_{\text{S}\to \text{O}}\)
- Parameters
obs_in_sensor – A
std::pairconsisting of the coordinates of the observation frame in the sensor frame \( \mathbf{p}^\text{S}_{\text{S}\to \text{O}} \), and the DCM that rotates from the sensor frame to the observation frame \( \mathbf{C}^\text{O}_\text{S} \).platform_to_sensor_in_platform – A ‘lever arm’ pointing from the origin of the platform frame to the origin of the sensor frame, coordinatized in the platform frame, \(\mathbf{p}^\text{P}_{\text{P}\to \text{S}}\). Units should be the same as those used with
obs_in_sensor.C_platform_to_sensor – The DCM that rotates from the platform frame to the sensor frame, \(\mathbf{C}^\text{S}_\text{P}\).
- Returns
A
std::pairconsisting of the relative position of the observed frame in the platform frame \( \mathbf{p}^\text{P}_{\text{P}\to \text{O}} \), and the DCM that rotates from the platform frame to the observed frame \( \mathbf{C}^\text{O}_\text{P}\).