Method convertStateToGlobal

src/GNSS.cpp:173–195

  }

  void TangentPlaneConverter::convertStateToGlobal(Data &State)
  {
    /** check if the state has the right type */
    if(State.getType() != DataType::Point3)
    {
      PRINT_ERROR("Wrong state Type: ", State.getType());
      return;
    }

    /** extract values */
    const Vector3 MeanIn = State.getMean();
    const Matrix33 CovIn = State.getCovarianceMatrix();

    /** convert */
    Vector3 MeanOut;
    Matrix33 CovOut;
    this->convertToGlobal(MeanIn, CovIn, MeanOut, CovOut);

    /** write back */
    Vector9 CovOutVect(CovOut.data());
    State.setMean(MeanOut);
    State.setCovarianceMatrix(CovOutVect);
  }

  void TangentPlaneConverter::convertMeasurementToLocal(Data &Measurement)
  {