Function navtk::solve_wahba_svd(const std::vector<Vector3>&, const std::vector<Vector3>&)
Defined in File linear_algebra.hpp
Function Documentation
-
Matrix3 navtk::solve_wahba_svd(const std::vector<Vector3> &p, const std::vector<Vector3> &r)
Estimate the rotation matrix that relates two fixed frames from common measurements in each of the frames.
- Parameters
p – A collection of platform frame observations.
r – A collection of reference frame observations, the same size as
p, where the ith observation in bothpandrare of the same event. Ifpandrare different sizes, or either contains fewer than 2 measurements, a warning will be generated or an error thrown, depending on the value of navtk::ErrorMode.
- Returns
Estimate of
C_ref_to_platform. No validation of the result is performed; testing of the return value before use is recommended. In the case of a warning being generated due to input sizes,navtk::zeros(3, 3)will be returned.