Function navtk::navutils::llh_to_quat_en

• Defined in File quaternions.hpp

Function Documentation

Vector4 navtk::navutils::llh_to_quat_en(const Vector3 &llh)

Calculate the quaternion that rotates a vector from the local NED frame to the ECEF frame ( \(\textbf{q}_\text{NED}^\text{ECEF}\)).

See also

Coordinate Frames for more details about quaternions.

Parameters

llh – Position expressed as length 3 vector of latitude, longitude and ellipsoidal height (radians, radians, meters)

Returns

NED to ECEF quaternion \(\textbf{q}_\text{NED}^\text{ECEF}\)