Program Listing for File leverarms.hpp

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#pragma once

#include <navtk/factory.hpp>
#include <navtk/navutils/navigation.hpp>
#include <navtk/tensors.hpp>

namespace navtk {
namespace navutils {

std::pair<Vector3, Matrix3> sensor_to_platform(const std::pair<Vector3, Matrix3>& sensor_pose,
                                               const Vector3& platform_to_sensor_in_platform,
                                               const Matrix3& C_platform_to_sensor,
                                               const Matrix3& C_k_to_j = eye(3));

std::pair<Vector3, Matrix3> platform_to_sensor(const std::pair<Vector3, Matrix3>& platform_pose,
                                               const Vector3& platform_to_sensor_in_platform,
                                               const Matrix3& C_platform_to_sensor,
                                               const Matrix3& C_k_to_j = eye(3));

std::pair<Vector3, Matrix3> obs_in_platform_to_sensor(
    const std::pair<Vector3, Matrix3>& obs_in_platform,
    const Vector3& platform_to_sensor_in_platform,
    const Matrix3& C_platform_to_sensor);

std::pair<Vector3, Matrix3> obs_in_sensor_to_platform(
    const std::pair<Vector3, Matrix3>& obs_in_sensor,
    const Vector3& platform_to_sensor_in_platform,
    const Matrix3& C_platform_to_sensor);

}  // namespace navutils
}  // namespace navtk