Program Listing for File mechanization_wander.hpp

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#pragma once

#include <memory>

#include <navtk/inertial/AidingAltData.hpp>
#include <navtk/inertial/InertialPosVelAtt.hpp>
#include <navtk/inertial/MechanizationOptions.hpp>
#include <navtk/not_null.hpp>
#include <navtk/tensors.hpp>

namespace navtk {
namespace inertial {

std::tuple<Matrix3, double, Vector3, Matrix3> mechanization_wander(
    const Vector3& dv_s,
    const Vector3& dth_s,
    double dt,
    const Matrix3& C_n_to_e_0,
    double h0,
    const Vector3& v_n_0,
    const Matrix3& C_s_to_l_0,
    const MechanizationOptions& mech_options = MechanizationOptions{},
    AidingAltData* aiding_alt_data           = nullptr);

not_null<std::shared_ptr<InertialPosVelAtt>> mechanization_wander(
    const Vector3& dv_s,
    const Vector3& dth_s,
    double dt,
    const not_null<std::shared_ptr<InertialPosVelAtt>> pva,
    const not_null<std::shared_ptr<InertialPosVelAtt>>,
    const MechanizationOptions& mech_options = MechanizationOptions{},
    AidingAltData* aiding_alt_data           = nullptr);
}  // namespace inertial
}  // namespace navtk