Navigation

Base class for prior on attitude Example:

Base class for prior on attitude Example:

Version of GPSFactor for NavState.

Prior on position in a Cartesian frame.

Version of AttitudeFactor for Pose3.

Version of AttitudeFactor for Rot3.

• measurement is direction of gravity in body frame bF
• reference is direction of gravity in navigation frame nG This factor will give zero error if nRb * bF == nG

Possibilities include: ENU: East-North-Up navigation frame at some local origin NED: North-East-Down navigation frame at some local origin ECEF: Earth-centered Earth-fixed, origin at Earth's center See Farrell08book or e.g. http://www.dirsig.org/docs/new/coordinates.html