Function navtk::utils::linear_extrapolate_pva(navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>>, navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>>, const aspn_xtensor::TypeTimestamp&)

• Defined in File interpolation.hpp

Function Documentation

not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> navtk::utils::linear_extrapolate_pva(navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> pva1, navtk::not_null<std::shared_ptr<aspn_xtensor::MeasurementPositionVelocityAttitude>> pva2, const aspn_xtensor::TypeTimestamp &t)

Performs linear interpolation between or extrapolation beyond two MeasurementPositionVelocityAttitude records.

Parameters

• pva1 – First record.

• pva2 – Second record.

• t – Time to interpolate or extrapolate to.

Returns

Approximate pva at time t. If pva1 and pva2 have the same time_validity, pva2 is returned. When interpolation is performed the covariance matrix is not interpolated, but copied directly from the pva input with the latest time.