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};

fn example() {
    // 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);
}

Code of Conduct

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License

Copyright © 2024 Markus Mayer

Triple licensed under your choice of either of:

• European Union Public Licence, Version 1.2, (LICENSE-EUPL or https://joinup.ec.europa.eu/collection/eupl/eupl-text-eupl-12)
• Apache License, Version 2.0, (LICENSE-APACHE or http://www.apache.org/licenses/LICENSE-2.0)
• MIT license (LICENSE-MIT or http://opensource.org/licenses/MIT)