Program Listing for File derivatives.hpp

↰ Return to documentation for file (src/navtk/navutils/derivatives.hpp)

#pragma once

#include <navtk/tensors.hpp>

namespace navtk {
namespace navutils {

Matrix3 d_cen_wrt_lat(const Vector3& lla);

Matrix3 d_cen_wrt_lon(const Vector3& lla);

Matrix3 d_cns_wrt_r(const Vector3& rpy);

Matrix3 d_cns_wrt_p(const Vector3& rpy);

Matrix3 d_cns_wrt_y(const Vector3& rpy);

Matrix3 d_llh_to_ecef_wrt_llh(const Vector3& llh);

Matrix3 d_ecef_to_llh_wrt_ecef(const Vector3& ecef);

Matrix3 d_cne_wrt_k(const Vector3& dk, const Vector3& llh);

Matrix3 d_dcm_to_rpy(const Matrix3& a,
                     const Matrix3& dadx,
                     const Matrix3& dady,
                     const Matrix3& dadz,
                     const Matrix3& b,
                     const Matrix3& dbdx,
                     const Matrix3& dbdy,
                     const Matrix3& dbdz);

Matrix3 d_dcm_to_rpy(const Matrix3& ab, const Matrix3& dx, const Matrix3& dy, const Matrix3& dz);

Matrix3 d_rpy_tilt_corr_wrt_tilt(const Vector3& tilts, const Matrix3& C_nav_to_platform);

Matrix3 d_rpy_correct_dcm_with_tilt_wrt_tilt(const Vector3& tilts,
                                             const Matrix3& C_nav_to_platform);

Matrix d_quat_prop_wrt_r(const Vector4& q, const Vector3& r);

Matrix d_quat_tilt_corr_wrt_tilt(const Vector4& q);

Matrix d_llh_to_quat_en_wrt_llh(const Vector3& llh);

Matrix d_quat_to_rpy_wrt_q(const Vector4& q);

Matrix d_quat_norm_wrt_q(const Vector4& q);

Matrix3 d_ortho_dcm_wrt_tilt(const Matrix3& C_nav_to_platform,
                             const Vector3& tilts,
                             const Matrix3& dtilt);
Matrix3 d_rpy_to_dcm_wrt_r(const Vector3& rpy);

Matrix3 d_rpy_to_dcm_wrt_p(const Vector3& rpy);

Matrix3 d_rpy_to_dcm_wrt_y(const Vector3& rpy);

Matrix d_sensor_to_platform_pos_wrt_q(const Vector4& q_s_to_n,
                                      const Vector3& l_ps_p,
                                      const Matrix3& C_p_to_s);

Matrix d_platform_to_sensor_pos_wrt_q(const Vector4& q_p_to_n, const Vector3& l_ps_p);
}  // namespace navutils
}  // namespace navtk