In plain words
Let me look at those who stand here eager to fight, and see with whom I must do battle in this undertaking of war.
Word for word
So that I may look at these, standing eager to fight, [to see] with whom I must fight in this undertaking of battle.
यावदेतान्निरीक्षेऽहं योद्धुकामानवस्थितान्कैर्मया सह योद्धव्यमस्मिन् रणसमुद्यमे