Struct Pose

• Defined in File Pose.hpp

Inheritance Relationships

Derived Type

• public navtk::filtering::NavSolution (Struct NavSolution)

Struct Documentation

struct Pose

A structure for describing Pose using position, attitude, and time.

Subclassed by navtk::filtering::NavSolution

Public Functions

inline Pose(Vector3 pos, Matrix3 rot_mat, aspn_xtensor::TypeTimestamp time)

Parameters

• pos – A vector representing position as Latitude-Longitude-Height (LLH) in rad-rad-meters.

• rot_mat – A 3x3 DCM representing the rotation from the navigation frame to the sensor frame.

• time – The time at which the attitude and position are valid, in seconds.

Public Members

Vector3 pos

A vector representing position as Latitude-Longitude-Height (LLH) in rad-rad-meters.

Matrix3 rot_mat

A 3x3 DCM representing the rotation from the navigation frame to the sensor frame.

aspn_xtensor::TypeTimestamp time

The time at which the attitude and position are valid, in seconds.