Function navtk::utils::to_inertial_aux

• Defined in File conversions.hpp

Function Documentation

AspnBaseVector navtk::utils::to_inertial_aux(const filtering::NavSolution &nav_sol, const Vector &forces, const Vector &rates = zeros(3))

Bundle PVA and inertial forces and rates into vector.

Parameters

• nav_sol – NavSolution to convert to

• forces – Forces to bundle into aspn_xtensor::MeasurementImu

• rates – Rates to bundle into aspn_xtensor::MeasurementImu

Returns

A vector containing the bundled aspn_xtensor::MeasurementPositionVelocityAttitude and aspn_xtensor::MeasurementImu.