Namespaces
namespace	internal

Functions
template<typename Derived>
Eigen::Quaternion< typename Derived::Scalar >	b_Quat_n (const Eigen::MatrixBase< Derived > &rollPitchYaw)
	Quaternion for rotations from navigation to body frame.

template<typename Scalar>
Eigen::Quaternion< Scalar >	b_Quat_n (const Scalar &roll, const Scalar &pitch, const Scalar &yaw)
	Quaternion for rotations from navigation to body frame.

template<typename Scalar>
Eigen::Quaternion< Scalar >	b_Quat_p (Scalar mountingAngleX, Scalar mountingAngleY, Scalar mountingAngleZ)
	Quaternion for rotations from platform to body frame.

template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 4, 4 >	covQuat2QuatJacobian (const Eigen::QuaternionBase< Derived > &beta_quat_alpha)
	Calculates the Jacobian to convert an attitude represented in quaternions from one frame into another. Multiply: cov_beta = J * cov_alpha * J^T.

template<typename Derived, typename DerivedQ>
Eigen::Matrix3< typename Derived::Scalar >	covQuat2RPY (const Eigen::MatrixBase< Derived > &covQuat, const Eigen::QuaternionBase< DerivedQ > &n_quat_b)
	Converts a covariance for an attitude represented in quaternion form into a covariance for Euler angels (yaw, pitch, roll)

template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 3, 4 >	covQuat2RPYJacobian (const Eigen::QuaternionBase< Derived > &n_quat_b)
	Calculates the Jacobian to convert an attitude represented in quaternions into a covariance in Euler angels (roll, pitch, yaw)

template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 3, 4 >	covQuatDiffJacobian (const Eigen::QuaternionBase< Derived > &quat)
	Calculates the Jacobian to convert an attitude represented in quaternions into the difference of the vector part of two quaternions.

template<typename Derived, typename DerivedQ>
Eigen::Matrix4< typename Derived::Scalar >	covRPY2quat (const Eigen::MatrixBase< Derived > &covRPY, const Eigen::QuaternionBase< DerivedQ > &n_quat_b)
	Converts a covariance for an attitude represented in Euler angels (roll, pitch, yaw) into a covariance for a quaternion.

template<typename Derived>
Eigen::Matrix< typename Derived::Scalar, 4, 3 >	covRPY2quatJacobian (const Eigen::QuaternionBase< Derived > &n_quat_b)
	Calculates the Jacobian to convert an attitude represented in Euler angels (roll, pitch, yaw) into a covariance for a quaternion.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	e_posARP2APC (const Eigen::MatrixBase< Derived > &e_posARP, const std::shared_ptr< const GnssObs > &gnssObs, Frequency freq, const std::string &antennaType, const std::string &nameId)
	Converts a antenna reference point position position to the antenna phase center position.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	e_posMarker2ARP (const Eigen::MatrixBase< Derived > &e_posMarker, const std::shared_ptr< const GnssObs > &gnssObs, const Eigen::Vector3d &hen_delta=Eigen::Vector3d::Zero())
	Converts a marker position to the antenna reference point position.

template<typename Scalar>
Eigen::Quaternion< Scalar >	e_Quat_i (Scalar time, Scalar omega_ie=InsConst::omega_ie)
	Quaternion for rotations from inertial to Earth-centered-Earth-fixed frame.

template<typename Scalar>
Eigen::Quaternion< Scalar >	e_Quat_n (const Scalar &latitude, const Scalar &longitude)
	Quaternion for rotations from navigation to Earth-fixed frame.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	ecef2lla_GRS80 (const Eigen::MatrixBase< Derived > &e_position)
	Converts Earth-centered-Earth-fixed coordinates into latitude, longitude and altitude using GRS90.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	ecef2lla_WGS84 (const Eigen::MatrixBase< Derived > &e_position)
	Converts Earth-centered-Earth-fixed coordinates into latitude, longitude and altitude using WGS84.

template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedA::Scalar >	ecef2ned (const Eigen::MatrixBase< DerivedA > &e_position, const Eigen::MatrixBase< DerivedB > &lla_position_ref)
	Converts ECEF coordinates into local NED coordinates.

template<typename Scalar>
Eigen::Quaternion< Scalar >	i_Quat_e (Scalar time, Scalar omega_ie=InsConst::omega_ie)
	Quaternion for rotations from Earth-centered-Earth-fixed to inertial frame.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	lla2ecef_GRS80 (const Eigen::MatrixBase< Derived > &lla_position)
	Converts latitude, longitude and altitude into Earth-centered-Earth-fixed coordinates using GRS90.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	lla2ecef_WGS84 (const Eigen::MatrixBase< Derived > &lla_position)
	Converts latitude, longitude and altitude into Earth-centered-Earth-fixed coordinates using WGS84.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	lla_posARP2APC (const Eigen::MatrixBase< Derived > &lla_posARP, const std::shared_ptr< const GnssObs > &gnssObs, Frequency freq, const std::string &antennaType, const std::string &nameId)
	Converts a antenna reference point position to the antenna phase center position.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	lla_posMarker2ARP (const Eigen::MatrixBase< Derived > &lla_posMarker, const std::shared_ptr< const GnssObs > &gnssObs, const Eigen::Vector3d &hen_delta=Eigen::Vector3d::Zero())
	Converts a marker position to the antenna reference point position.

template<typename Derived>
Eigen::Quaternion< typename Derived::Scalar >	n_Quat_b (const Eigen::MatrixBase< Derived > &rollPitchYaw)
	Quaternion for rotations from body to navigation frame.

template<typename Scalar>
Eigen::Quaternion< Scalar >	n_Quat_b (Scalar roll, Scalar pitch, Scalar yaw)
	Quaternion for rotations from body to navigation frame.

template<typename Scalar>
Eigen::Quaternion< Scalar >	n_Quat_e (const Scalar &latitude, const Scalar &longitude)
	Quaternion for rotations from Earth-fixed to navigation frame.

template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedA::Scalar >	ned2ecef (const Eigen::MatrixBase< DerivedA > &n_position, const Eigen::MatrixBase< DerivedB > &lla_position_ref)
	Converts local NED coordinates into ECEF coordinates.

template<typename Scalar>
Eigen::Quaternion< Scalar >	p_Quat_b (Scalar mountingAngleX, Scalar mountingAngleY, Scalar mountingAngleZ)
	Quaternion for rotations from body to platform frame.

template<typename DerivedA, typename DerivedB>
Eigen::Vector3< typename DerivedA::Scalar >	pz90toWGS84 (const Eigen::MatrixBase< DerivedA > &pz90, const Eigen::MatrixBase< DerivedB > &pz90_pos)
	Converts PZ-90.11 vectors to WGS84 frame.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	pz90toWGS84_pos (const Eigen::MatrixBase< Derived > &pz90_pos)
	Converts PZ-90.11 coordinates to WGS84 coordinates.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	quat2eulerZYX (const Eigen::QuaternionBase< Derived > &q)
	Converts the quaternion to Euler rotation angles with rotation sequence ZYX.

template<typename Derived>
Eigen::Vector3< typename Derived::Scalar >	sph2ecef (const Eigen::MatrixBase< Derived > &position_s, const typename Derived::Scalar &elevation, const typename Derived::Scalar &azimuth)
	Converts spherical Earth-centered-Earth-fixed coordinates into cartesian coordinates.

Function Documentation

◆ b_Quat_n() [1/2]

template<typename Derived>

Eigen::Quaternion< typename Derived::Scalar > NAV::trafo::b_Quat_n ( const Eigen::MatrixBase< Derived > & rollPitchYaw )

nodiscard

Quaternion for rotations from navigation to body frame.

Parameters

[in] rollPitchYaw Roll, Pitch, Yaw angle in [rad]

Returns: The rotation Quaternion representation

Definition at line 346 of file CoordinateFrames.hpp.

◆ b_Quat_n() [2/2]

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::b_Quat_n	(	const Scalar &	roll,
		const Scalar &	pitch,
		const Scalar &	yaw )

nodiscard

Quaternion for rotations from navigation to body frame.

Parameters

[in]	roll	Roll angle in [rad]
[in]	pitch	Pitch angle in [rad]
[in]	yaw	Yaw angle in [rad]

Returns: The rotation Quaternion representation

Definition at line 331 of file CoordinateFrames.hpp.

◆ b_Quat_p()

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::b_Quat_p	(	Scalar	mountingAngleX,
		Scalar	mountingAngleY,
		Scalar	mountingAngleZ )

nodiscard

Quaternion for rotations from platform to body frame.

Parameters

[in]	mountingAngleX	Mounting angle to x axis in [rad]. First rotation. (-pi:pi]
[in]	mountingAngleY	Mounting angle to y axis in [rad]. Second rotation. (-pi/2:pi/2]
[in]	mountingAngleZ	Mounting angle to z axis in [rad]. Third rotation. (-pi:pi]

Returns: The rotation Quaternion representation

Definition at line 377 of file CoordinateFrames.hpp.

◆ covQuat2QuatJacobian()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 4, 4 > NAV::trafo::covQuat2QuatJacobian ( const Eigen::QuaternionBase< Derived > & beta_quat_alpha )

nodiscard

Calculates the Jacobian to convert an attitude represented in quaternions from one frame into another. Multiply: cov_beta = J * cov_alpha * J^T.

Parameters

beta_quat_alpha Quaternion for rotations from frame alpha to frame beta. e.g. n_q_e if converting e_cov_b to n_cov_b

Definition at line 250 of file CoordinateFrames.hpp.

◆ covQuat2RPY()

template<typename Derived, typename DerivedQ>

Eigen::Matrix3< typename Derived::Scalar > NAV::trafo::covQuat2RPY	(	const Eigen::MatrixBase< Derived > &	covQuat,
		const Eigen::QuaternionBase< DerivedQ > &	n_quat_b )

nodiscard

Converts a covariance for an attitude represented in quaternion form into a covariance for Euler angels (yaw, pitch, roll)

Parameters

covQuat	Covariance for the quaternion
n_quat_b	Quaternion for rotations from body to navigation frame

Returns: Covariance for the Euler angels (roll, pitch, yaw)

Definition at line 241 of file CoordinateFrames.hpp.

◆ covQuat2RPYJacobian()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 3, 4 > NAV::trafo::covQuat2RPYJacobian ( const Eigen::QuaternionBase< Derived > & n_quat_b )

nodiscard

Calculates the Jacobian to convert an attitude represented in quaternions into a covariance in Euler angels (roll, pitch, yaw)

Parameters

n_quat_b Quaternion for rotations from body to navigation frame

Definition at line 204 of file CoordinateFrames.hpp.

◆ covQuatDiffJacobian()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 3, 4 > NAV::trafo::covQuatDiffJacobian ( const Eigen::QuaternionBase< Derived > & quat )

nodiscard

Calculates the Jacobian to convert an attitude represented in quaternions into the difference of the vector part of two quaternions.

Parameters

quat	Quaternion for which the Jacobian is wanted

Definition at line 266 of file CoordinateFrames.hpp.

◆ covRPY2quat()

template<typename Derived, typename DerivedQ>

Eigen::Matrix4< typename Derived::Scalar > NAV::trafo::covRPY2quat	(	const Eigen::MatrixBase< Derived > &	covRPY,
		const Eigen::QuaternionBase< DerivedQ > &	n_quat_b )

nodiscard

Converts a covariance for an attitude represented in Euler angels (roll, pitch, yaw) into a covariance for a quaternion.

Parameters

covRPY	Covariance for the Euler angles
n_quat_b	Quaternion for rotations from body to navigation frame

Returns: Covariance for the quaternion

Definition at line 195 of file CoordinateFrames.hpp.

◆ covRPY2quatJacobian()

template<typename Derived>

Eigen::Matrix< typename Derived::Scalar, 4, 3 > NAV::trafo::covRPY2quatJacobian ( const Eigen::QuaternionBase< Derived > & n_quat_b )

nodiscard

Calculates the Jacobian to convert an attitude represented in Euler angels (roll, pitch, yaw) into a covariance for a quaternion.

Parameters

n_quat_b Quaternion for rotations from body to navigation frame

Definition at line 162 of file CoordinateFrames.hpp.

◆ e_posARP2APC()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::e_posARP2APC	(	const Eigen::MatrixBase< Derived > &	e_posARP,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		Frequency	freq,
		const std::string &	antennaType,
		const std::string &	nameId )

nodiscard

Converts a antenna reference point position position to the antenna phase center position.

Parameters

[in]	e_posARP	Antenna reference point position in ECEF coordinates [m]
[in]	gnssObs	GNSS observation with antenna info
[in]	freq	Frequency of the observation
[in]	antennaType	Antenna type
[in]	nameId	NameId of the calling node for Log output

Returns: Antenna phase center position in ECEF frame [m] (ARP + antenna phase center)

Definition at line 89 of file Antenna.hpp.

◆ e_posMarker2ARP()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::e_posMarker2ARP	(	const Eigen::MatrixBase< Derived > &	e_posMarker,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const Eigen::Vector3d &	hen_delta = Eigen::Vector3d::Zero() )

nodiscard

Converts a marker position to the antenna reference point position.

Parameters

[in]	e_posMarker	Marker position in ECEF coordinates [m]
[in]	gnssObs	GNSS observation with antenna info
[in]	hen_delta	Additional height, east, north in [m]

Returns: Antenna Reference Point position in ECEF frame [m] (Marker + antennaDeltaNEU)

Definition at line 33 of file Antenna.hpp.

◆ e_Quat_i()

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::e_Quat_i	(	Scalar	time,
		Scalar	omega_ie = InsConst::omega_ie )

nodiscard

Quaternion for rotations from inertial to Earth-centered-Earth-fixed frame.

Parameters

[in]	time	Time (t - t0)
[in]	omega_ie	Angular velocity in [rad/s] of earth frame with regard to the inertial frame

Returns: The rotation Quaternion representation

Definition at line 282 of file CoordinateFrames.hpp.

◆ e_Quat_n()

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::e_Quat_n	(	const Scalar &	latitude,
		const Scalar &	longitude )

nodiscard

Quaternion for rotations from navigation to Earth-fixed frame.

Parameters

[in]	latitude	𝜙 Geodetic latitude in [rad]
[in]	longitude	λ Geodetic longitude in [rad]

Returns: The rotation Quaternion representation

Definition at line 305 of file CoordinateFrames.hpp.

◆ ecef2lla_GRS80()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::ecef2lla_GRS80 ( const Eigen::MatrixBase< Derived > & e_position )

nodiscard

Converts Earth-centered-Earth-fixed coordinates into latitude, longitude and altitude using GRS90.

Parameters

[in] e_position Vector with coordinates in ECEF frame in [m]

Returns: Vector containing [latitude 𝜙, longitude λ, altitude]^T in [rad, rad, m]

Definition at line 432 of file CoordinateFrames.hpp.

◆ ecef2lla_WGS84()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::ecef2lla_WGS84 ( const Eigen::MatrixBase< Derived > & e_position )

nodiscard

Converts Earth-centered-Earth-fixed coordinates into latitude, longitude and altitude using WGS84.

Parameters

[in] e_position Vector with coordinates in ECEF frame

Returns: Vector containing [latitude 𝜙, longitude λ, altitude]^T in [rad, rad, m]

Definition at line 420 of file CoordinateFrames.hpp.

◆ ecef2ned()

template<typename DerivedA, typename DerivedB>

Eigen::Vector3< typename DerivedA::Scalar > NAV::trafo::ecef2ned	(	const Eigen::MatrixBase< DerivedA > &	e_position,
		const Eigen::MatrixBase< DerivedB > &	lla_position_ref )

nodiscard

Converts ECEF coordinates into local NED coordinates.

Parameters

[in]	e_position	ECEF coordinates in [m] to convert
[in]	lla_position_ref	Reference [𝜙 latitude, λ longitude, altitude]^T in [rad, rad, m] which represents the origin of the local frame

Returns: [x_N, x_E, x_D]^T Local NED coordinates in [m]

Note: See G. Cai, B.M. Chen, Lee, T.H. Lee, 2011, Unmanned Rotorcraft Systems. Springer. pp. 32

Attention: This function does not take the sphericity of the Earth into account

Definition at line 447 of file CoordinateFrames.hpp.

◆ i_Quat_e()

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::i_Quat_e	(	Scalar	time,
		Scalar	omega_ie = InsConst::omega_ie )

nodiscard

Quaternion for rotations from Earth-centered-Earth-fixed to inertial frame.

Parameters

[in]	time	Time (t - t0)
[in]	omega_ie	Angular velocity in [rad/s] of earth frame with regard to the inertial frame

Returns: The rotation Quaternion representation

Definition at line 295 of file CoordinateFrames.hpp.

◆ lla2ecef_GRS80()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::lla2ecef_GRS80 ( const Eigen::MatrixBase< Derived > & lla_position )

nodiscard

Converts latitude, longitude and altitude into Earth-centered-Earth-fixed coordinates using GRS90.

Parameters

[in] lla_position [𝜙 latitude, λ longitude, altitude]^T in [rad, rad, m]

Returns: The ECEF coordinates in [m]

Definition at line 411 of file CoordinateFrames.hpp.

◆ lla2ecef_WGS84()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::lla2ecef_WGS84 ( const Eigen::MatrixBase< Derived > & lla_position )

nodiscard

Converts latitude, longitude and altitude into Earth-centered-Earth-fixed coordinates using WGS84.

Parameters

[in] lla_position [𝜙 latitude, λ longitude, altitude]^T in [rad, rad, m]

Returns: The ECEF coordinates in [m]

Definition at line 402 of file CoordinateFrames.hpp.

◆ lla_posARP2APC()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::lla_posARP2APC	(	const Eigen::MatrixBase< Derived > &	lla_posARP,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		Frequency	freq,
		const std::string &	antennaType,
		const std::string &	nameId )

nodiscard

Converts a antenna reference point position to the antenna phase center position.

Parameters

[in]	lla_posARP	Antenna reference point position in LLA coordinates [rad, rad, m]
[in]	gnssObs	GNSS observation with antenna info
[in]	freq	Frequency of the observation
[in]	antennaType	Antenna type
[in]	nameId	NameId of the calling node for Log output

Returns: Antenna phase center position in LLA coordinates [rad, rad, m] (ARP + antenna phase center)

Definition at line 125 of file Antenna.hpp.

◆ lla_posMarker2ARP()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::lla_posMarker2ARP	(	const Eigen::MatrixBase< Derived > &	lla_posMarker,
		const std::shared_ptr< const GnssObs > &	gnssObs,
		const Eigen::Vector3d &	hen_delta = Eigen::Vector3d::Zero() )

nodiscard

Converts a marker position to the antenna reference point position.

Parameters

[in]	lla_posMarker	Marker position in LLA coordinates [rad, rad, m]
[in]	gnssObs	GNSS observation with antenna info
[in]	hen_delta	Additional height, east, north in [m]

Returns: Antenna Reference Point position in LLA coordinates [rad, rad, m] (Marker + antennaDeltaNEU)

Definition at line 63 of file Antenna.hpp.

◆ n_Quat_b() [1/2]

template<typename Derived>

Eigen::Quaternion< typename Derived::Scalar > NAV::trafo::n_Quat_b ( const Eigen::MatrixBase< Derived > & rollPitchYaw )

nodiscard

Quaternion for rotations from body to navigation frame.

Parameters

[in] rollPitchYaw Roll, Pitch, Yaw angle in [rad]

Returns: The rotation Quaternion representation

Definition at line 366 of file CoordinateFrames.hpp.

◆ n_Quat_b() [2/2]

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::n_Quat_b	(	Scalar	roll,
		Scalar	pitch,
		Scalar	yaw )

nodiscard

Quaternion for rotations from body to navigation frame.

Parameters

[in]	roll	Roll angle in [rad]
[in]	pitch	Pitch angle in [rad]
[in]	yaw	Yaw angle in [rad]

Returns: The rotation Quaternion representation

Definition at line 357 of file CoordinateFrames.hpp.

◆ n_Quat_e()

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::n_Quat_e	(	const Scalar &	latitude,
		const Scalar &	longitude )

nodiscard

Quaternion for rotations from Earth-fixed to navigation frame.

Parameters

[in]	latitude	𝜙 Geodetic latitude in [rad]
[in]	longitude	λ Geodetic longitude in [rad]

Returns: The rotation Quaternion representation

Definition at line 320 of file CoordinateFrames.hpp.

◆ ned2ecef()

template<typename DerivedA, typename DerivedB>

Eigen::Vector3< typename DerivedA::Scalar > NAV::trafo::ned2ecef	(	const Eigen::MatrixBase< DerivedA > &	n_position,
		const Eigen::MatrixBase< DerivedB > &	lla_position_ref )

nodiscard

Converts local NED coordinates into ECEF coordinates.

Parameters

[in]	n_position	NED coordinates in [m] to convert
[in]	lla_position_ref	Reference [𝜙 latitude, λ longitude, altitude]^T in [rad, rad, m] which represents the origin of the local frame

Returns: ECEF position in [m]

Note: See G. Cai, B.M. Chen, Lee, T.H. Lee, 2011, Unmanned Rotorcraft Systems. Springer. pp. 32

Attention: This function does not take the sphericity of the Earth into account

Definition at line 471 of file CoordinateFrames.hpp.

◆ p_Quat_b()

template<typename Scalar>

Eigen::Quaternion< Scalar > NAV::trafo::p_Quat_b	(	Scalar	mountingAngleX,
		Scalar	mountingAngleY,
		Scalar	mountingAngleZ )

nodiscard

Quaternion for rotations from body to platform frame.

Parameters

[in]	mountingAngleX	Mounting angle to x axis in [rad]. First rotation. (-pi:pi]
[in]	mountingAngleY	Mounting angle to y axis in [rad]. Second rotation. (-pi/2:pi/2]
[in]	mountingAngleZ	Mounting angle to z axis in [rad]. Third rotation. (-pi:pi]

Returns: The rotation Quaternion representation

Definition at line 393 of file CoordinateFrames.hpp.

◆ pz90toWGS84()

template<typename DerivedA, typename DerivedB>

Eigen::Vector3< typename DerivedA::Scalar > NAV::trafo::pz90toWGS84	(	const Eigen::MatrixBase< DerivedA > &	pz90,
		const Eigen::MatrixBase< DerivedB > &	pz90_pos )

nodiscard

Converts PZ-90.11 vectors to WGS84 frame.

Parameters

[in]	pz90	Vector in PZ-90.11 frame
[in]	pz90_pos	Position in PZ-90.11 frame (needed for calculation)

Returns: Vector in WGS84 frame

Definition at line 514 of file CoordinateFrames.hpp.

◆ pz90toWGS84_pos()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::pz90toWGS84_pos ( const Eigen::MatrixBase< Derived > & pz90_pos )

nodiscard

Converts PZ-90.11 coordinates to WGS84 coordinates.

Parameters

[in] pz90_pos Position in PZ-90.11 coordinates

Returns: Position in WGS84 coordinates

Note: See [38] PZ-90.11 Reference Document Appendix 4, p.34f

Definition at line 493 of file CoordinateFrames.hpp.

◆ quat2eulerZYX()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::quat2eulerZYX ( const Eigen::QuaternionBase< Derived > & q )

nodiscard

Converts the quaternion to Euler rotation angles with rotation sequence ZYX.

Parameters

[in] q Quaternion to convert

Returns: [angleX, angleY, angleZ]^T vector in [rad]. The returned angles are in the ranges (-pi:pi] x (-pi/2:pi/2] x (-pi:pi]

Definition at line 141 of file CoordinateFrames.hpp.

◆ sph2ecef()

template<typename Derived>

Eigen::Vector3< typename Derived::Scalar > NAV::trafo::sph2ecef	(	const Eigen::MatrixBase< Derived > &	position_s,
		const typename Derived::Scalar &	elevation,
		const typename Derived::Scalar &	azimuth )

nodiscard

Converts spherical Earth-centered-Earth-fixed coordinates into cartesian coordinates.

Parameters

[in]	position_s	Position in spherical coordinates to convert
[in]	elevation	Elevation in [rad]
[in]	azimuth	Azimuth in [rad]

Returns: The ECEF coordinates in [m]

Definition at line 525 of file CoordinateFrames.hpp.

Namespaces

Functions

Function Documentation

◆ b_Quat_n() [1/2]

◆ b_Quat_n() [2/2]

◆ b_Quat_p()

◆ covQuat2QuatJacobian()

◆ covQuat2RPY()

◆ covQuat2RPYJacobian()

◆ covQuatDiffJacobian()

◆ covRPY2quat()

◆ covRPY2quatJacobian()

◆ e_posARP2APC()

◆ e_posMarker2ARP()

◆ e_Quat_i()

◆ e_Quat_n()

◆ ecef2lla_GRS80()

◆ ecef2lla_WGS84()

◆ ecef2ned()

◆ i_Quat_e()

◆ lla2ecef_GRS80()

◆ lla2ecef_WGS84()

◆ lla_posARP2APC()

◆ lla_posMarker2ARP()

◆ n_Quat_b() [1/2]

◆ n_Quat_b() [2/2]

◆ n_Quat_e()

◆ ned2ecef()

◆ p_Quat_b()

◆ pz90toWGS84()

◆ pz90toWGS84_pos()

◆ quat2eulerZYX()

◆ sph2ecef()