Crate coordinate_frame

source ·
Expand description

§Simple coordinate frame conversions

This crate aims at supporting simple conversions between different standard and non-standard coordinate frames. One potential use-case is in prototyping IMU sensor data where multiple inertial or field sensors may be mounted in different orientations. These can then be expressed in terms of coordinate frames such as EastNorthUp and trivially converted to whatever basis you prefer, for example NorthEastDown.

§Example

use coordinate_frame::{NorthEastDown, NorthEastUp};

// Construct a coordinate in one reference frame.
let neu = NorthEastUp::new(1.0, 2.0, 3.0);
assert_eq!(neu.north(), 1.0);
assert_eq!(neu.east(), 2.0);
assert_eq!(neu.up(), 3.0);

// Note that "non-native" axes are also available.
assert_eq!(neu.down(), -3.0);

// You can transform it into a different frame.
let ned: NorthEastDown<_> = neu.into();
assert_eq!(ned.north(), 1.0);
assert_eq!(ned.east(), 2.0);
assert_eq!(ned.down(), -3.0);

// Information is available as you'd expect.
assert_eq!(ned, &[1.0, 2.0, -3.0]);
assert_eq!(ned.x(), 1.0);
assert_eq!(ned.z(), -3.0);

// Base vectors are also provided.
let axis = NorthEastDown::<f64>::z_axis();
assert_eq!(axis, [0.0, 0.0, -1.0]);

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