Functions.hpp File Reference

Inertial Navigation Helper Functions. More...

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Namespaces
namespace	NAV

Functions
template<typename Derived>
Derived::Scalar	NAV::calcPitchFromStaticAcceleration (const Eigen::MatrixBase< Derived > &b_accel)
	Calculates the pitch angle from a static acceleration measurement.
template<typename Derived>
Derived::Scalar	NAV::calcPitchFromVelocity (const Eigen::MatrixBase< Derived > &n_velocity)
	Calculates the Pitch angle from the trajectory defined by the given velocity.
template<typename Derived>
Derived::Scalar	NAV::calcRollFromStaticAcceleration (const Eigen::MatrixBase< Derived > &b_accel)
	Calculates the roll angle from a static acceleration measurement.
template<typename Derived>
Derived::Scalar	NAV::calcYawFromVelocity (const Eigen::MatrixBase< Derived > &n_velocity)
	Calculates the Yaw angle from the trajectory defined by the given velocity.
template<typename DerivedA, typename DerivedB = DerivedA>
Eigen::Vector3< typename DerivedA::Scalar >	NAV::e_calcCentrifugalAcceleration (const Eigen::MatrixBase< DerivedA > &e_position, const Eigen::MatrixBase< DerivedB > &e_omega_ie=InsConst::e_omega_ie)
	Calculates the centrifugal acceleration in [m/s^2] (acceleration that makes a body follow a curved path)
template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedB::Scalar >	NAV::e_calcCoriolisAcceleration (const Eigen::MatrixBase< DerivedA > &e_omega_ie, const Eigen::MatrixBase< DerivedB > &e_velocity)
	Calculates the coriolis acceleration in [m/s^2] (acceleration due to motion in rotating reference frame)
template<typename DerivedA, typename DerivedB, typename DerivedC>
Eigen::Vector3< typename DerivedA::Scalar >	NAV::n_calcCoriolisAcceleration (const Eigen::MatrixBase< DerivedA > &n_omega_ie, const Eigen::MatrixBase< DerivedB > &n_omega_en, const Eigen::MatrixBase< DerivedC > &n_velocity)
	Calculates the coriolis acceleration in [m/s^2] (acceleration due to motion in rotating reference frame)
template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedA::Scalar >	NAV::n_calcTransportRate (const Eigen::MatrixBase< DerivedA > &lla_position, const Eigen::MatrixBase< DerivedB > &n_velocity, const auto &R_N, const auto &R_E)
	Calculates the transport rate ω_en_n (rotation rate of the Earth frame relative to the navigation frame)

Detailed Description

Inertial Navigation Helper Functions.

Author

T. Topp (topp@.nosp@m.ins..nosp@m.uni-s.nosp@m.tutt.nosp@m.gart..nosp@m.de)

Date

2020-09-02

Definition in file Functions.hpp.