Struct NedSpace 

pub struct NedSpace { /* private fields */ }

A local tangent-plane spatial context using the North-East-Down (NED) reference frame.

NedSpace represents a point in a locally linearized coordinate system centered at a reference geodetic location (typically defined by a GPS fix). It is commonly used in aerospace, robotics, and real-time navigation systems to express motion and sensor positions relative to a local Earth-aligned frame.

This frame uses the following axis definitions:

• North (+N): tangential to the Earth’s surface, pointing toward the North Pole
• East (+E): tangential to the Earth’s surface, perpendicular to North, pointing eastward
• Down (+D): aligned with gravity, pointing toward the Earth’s center (positive downward)

This results in a right-handed coordinate system with the origin at a defined reference point, and the frame fixed to the Earth — making it suitable for integrating IMUs, magnetometers, and other aircraft-attached sensors.

Fields

• id: Unique numeric identifier for this NED spatial context (e.g., sensor ID)
• north: Position in meters along the northward axis
• east: Position in meters along the eastward axis
• down: Position in meters along the downward (gravity-aligned) axis

Coordinate Index Mapping

When used with the Coordinate trait, the following index mapping applies:

• 0 => north
• 1 => east
• 2 => down

Common Applications

• Aircraft position estimation relative to a flight segment origin
• Magnetometer placement in local frame for MagNav systems
• Inertial Navigation System (INS) drift correction
• Real-time sensor fusion in autonomous drones or ground vehicles

Example

use deep_causality::*;

let n1 = NedSpace::new(1, 0.0, 0.0, 0.0);      // Reference origin
let n2 = NedSpace::new(2, 100.0, 50.0, 10.0);  // 100m North, 50m East, 10m below origin

println!("{}", n2);

assert_eq!(n2.dimension(), 3);
assert_eq!(n1.distance(&n2), (100.0_f64.powi(2) + 50.0_f64.powi(2) + 10.0_f64.powi(2)).sqrt());

Notes

• The “down” axis is positive in the direction of gravity. This is a key difference from ENU (East-North-Up) or typical 3D Cartesian conventions.
• This struct assumes flat-Earth approximation — for global modeling, use GeoSpace or EcefSpace.

Implementations

impl NedSpace

pub fn north(&self) -> f64

pub fn east(&self) -> f64

pub fn down(&self) -> f64

impl NedSpace

pub fn new(id: u64, north: f64, east: f64, down: f64) -> Self

Trait Implementations

impl Adjustable<f64> for NedSpace

fn update<const W: usize, const H: usize, const D: usize, const C: usize>( &mut self, array_grid: &ArrayGrid<f64, W, H, D, C>, ) -> Result<(), UpdateError>

The default implementation does nothing to keep update optional. Override this method to implement a node update when needed. For a sample implementation, see src/types/context_types/node_types_adjustable

fn adjust<const W: usize, const H: usize, const D: usize, const C: usize>( &mut self, array_grid: &ArrayGrid<f64, W, H, D, C>, ) -> Result<(), AdjustmentError>

The default implementation does nothing to keep adjustment optional. Override this method to implement a node adjustment when needed. Depending on the type of node adjustment, select a 1, 2,3, or 4 dimensional array grid that contains the transformation data to apply to the node. For a sample implementation, see src/types/context_types/node_types_adjustable

impl Clone for NedSpace

fn clone(&self) -> NedSpace

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Coordinate<f64> for NedSpace

fn dimension(&self) -> usize

Returns the number of dimensions in the coordinate system (always 3).

fn coordinate(&self, index: usize) -> Result<&f64, IndexError>

Returns a reference to the coordinate value at the specified index.

Index Mapping

• 0 => north
• 1 => east
• 2 => down

Errors

Returns IndexError if the index is out of bounds.

impl Debug for NedSpace

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

Formats the value using the given formatter.

impl Display for NedSpace

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

Formats the value using the given formatter.

impl Identifiable for NedSpace

fn id(&self) -> u64

impl Metric<f64> for NedSpace

fn distance(&self, other: &Self) -> f64

Computes a scalar distance or influence between self and other.

impl PartialEq for NedSpace

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Spatial<f64> for NedSpace

impl StructuralPartialEq for NedSpace