Typedef navtk::inertial::MechanizationFunction

• Defined in File Inertial.hpp

Typedef Documentation

using navtk::inertial::MechanizationFunction = std::function<not_null<std::shared_ptr<InertialPosVelAtt>>(const Vector3 &dv, const Vector3 &dth, const double dt, const not_null<std::shared_ptr<InertialPosVelAtt>> ref, const not_null<std::shared_ptr<InertialPosVelAtt>> old_ref, const MechanizationOptions &options, AidingAltData *aiding_alt_data)>

Shorthand for mechanization function used as Inertial parameter.

Param dv

Delta velocity measurements in the inertial sensor frame, m/s.

Param dth

Delta rotation measurement in the inertial sensor frame, rad.

Param dt

Delta time over which the delta velocity and rotation measurements were collected, seconds.

Param ref

Starting position/velocity/attitude for mechanization.

Param old_ref

Position/velocity/attitude from the start of the previous mechanization interval.

Param options

Selection of options to use during this mechanization interval.

Param aiding_alt_data

Container holding an external altitude measurement in m HAE, and the accumulated error resulting from the aiding altitude in the inertial’s mechanization.

Return

Position, velocity and attitude after mechanization.