Struct EnuFrame 

pub struct EnuFrame {
    pub origin_lla: (f64, f64, f64),
    pub origin_ecef: Vec3,
    pub rotation: Mat3,
}

Local ENU coordinate frame (fixed origin). p_enu = R (p_ecef − r0).

Fields

origin_lla: (f64, f64, f64)

Origin (latitude°, longitude°, altitude m) — input values.

origin_ecef: Vec3

Origin in ECEF.

rotation: Mat3

ECEF to ENU rotation (rows: E, N, U).

Implementations

impl EnuFrame

pub fn new(lat_deg: f64, lon_deg: f64, alt: f64) -> Self

Creates from the origin LLA. Recomputes the origin latitude/longitude from ECEF iteratively to build the rotation (numerically equal to the input; default behavior for bitwise reproducibility of results).

pub fn ecef_to_enu(&self, p: &Vec3) -> Vec3

ECEF to ENU of this frame.

pub fn enu_to_ecef(&self, e: &Vec3) -> Vec3

ENU → ECEF.

pub fn lla_to_enu(&self, lat_deg: f64, lon_deg: f64, alt: f64) -> Vec3

(latitude°, longitude°, ellipsoidal height m) to ENU.

pub fn enu_to_lla(&self, e: &Vec3) -> (f64, f64, f64)

ENU to (latitude°, longitude°, ellipsoidal height m).

Trait Implementations

impl Clone for EnuFrame

fn clone(&self) -> Self

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for EnuFrame

impl Debug for EnuFrame

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl PartialEq for EnuFrame

fn eq(&self, other: &Self) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for EnuFrame