OpenKalman::coordinates::Spherical< C1, C2, C3 > Struct Template Reference

A coordinates::descriptor reflecting spherical coordinates according to the ISO 80000-2:2019 convention. More...

#include <Spherical.hpp>

Detailed Description

template<typename C1 = Distance, typename C2 = inclination::Radians, typename C3 = angle::Radians>
struct OpenKalman::coordinates::Spherical< C1, C2, C3 >

A coordinates::descriptor reflecting spherical coordinates according to the ISO 80000-2:2019 convention.

C1, C2, and C3 must be some combination of Distance (radius r), Inclination (polar angle θ), and Angle (azimuth angle φ) in any order. The coordinate system is right-handed. Spherical coordinates span three adjacent coefficients in a matrix.
See David Frederic Crouse, Cubature/Unscented/Sigma Point Kalman Filtering with Angular Measurement Models, 18th Int'l Conf. on Information Fusion 1550, 1553 (2015).

Examples

Spherical<Distance, inclination::Degrees, angle::Radians>,
Spherical<angle::PositiveDegrees, Distance, inclination::Radians>

Template Parameters

C1,C2,C3

Distance, Inclination, and Angle, in any order. By default, they are Distance, inclination::Radians, and angle::Radians, respectively.

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The documentation for this struct was generated from the following file:

• OpenKalman/coordinates/descriptors/Spherical.hpp