Function lupnt::Range

• Defined in File measurements.cc

Function Documentation

Vec1 lupnt::Range(const VecX &r1, const VecX &r2)

Compute the geometric (true) range between two position vectors.

A minimal generic two-way/one-way range measurement model, used e.g. as a FilterMeasurementFunction building block in EKF/UKF examples (example_adaptive.cc) when a full GnssMeasurement is not needed.

Parameters:

• r1 – First position [m], any common frame

• r2 – Second position [m], same frame as r1

Returns:

Range ||r2 - r1|| [m] as a length-1 vector