Organization

Algorithms are implemented in C++ as a header-only library with the only dependancy being Eigen. Functions are templated, as necessary, to emphasize dependency on specific models (e.g. geodetic). Bindings are provided both for python (nanobind) and MATLAB (clib).

Folder contents:

Ennui\ : main software, C/C++
tests\ : unit tests for the main software
python\ : python binding (using nanobind)
matlab\ : MATLAB binding (using clib).
scripts\ : utility scripts for building and testing. Run from root folder.
docs\ : content for generating the static website.

Namespaces

Namespace and template usage here is intended to generalize models across multiple use-cases and implementations. For example, gravitation models are required for state propagation using inertial sensors. Equations to compute gravitation are parameterized by a geodetic model (e.g. WGS84¹). For a particular use-case, the mechanization reference frame (e.g. ECEF) will also inform selection of a gravitation equation.

graph BT;

    subgraph ::mechanization
        subgraph ::ecef
            idPVA_SO3[pva in SO3]
            idPVA_q[pva in SU3]
        end
    end

    ::math --> ::geodetic
    ::math --> ::mechanization
    ::geodetic --> ::mechanization

    subgraph ::geodetic
    direction BT
        idMP[geodetic model parameters] --> gravitation
        idMP[geodetic model parameters] --> idFT[frame transformations]
    end

    subgraph ::math
        direction BT
        idLA[linear algebra] --> rotation
    end

Organization

Namespaces

Recommended reading: