dynamicsFunctions.h

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#ifndef GNCUTILS_DYNAMICS_DYNAMICS_FUNCTIONS_H
#define GNCUTILS_DYNAMICS_DYNAMICS_FUNCTIONS_H
 
#include "core/CartesianVector.hpp"
#include "dynamics/Quaternion.h"
 
namespace warpos {

    void convertImuInertialCg(const clockwerk::CartesianVector<3>& accel_meas__imu, const clockwerk::CartesianVector<3>& ang_vel_meas__imu,
                             const clockwerk::CartesianVector<3>& ang_accel_meas__imu, const clockwerk::CartesianVector<3>& lever_arm__body, 
                             const clockwerk::Quaternion& quat_imu_body, const clockwerk::CartesianVector<3>& accel_bias__imu, 
                             const clockwerk::CartesianVector<3>& ang_vel_bias__imu, clockwerk::CartesianVector<3>& accel_inrtl__body, 
                             clockwerk::CartesianVector<3>& ang_vel_inrtl__body);
}
 
#endif