Struct Acceleration 

pub struct Acceleration<F: Frame> { /* private fields */ }

Specific force, an accelerometer bias, or a navigation-frame acceleration, in meters per second squared.

The frame says which. Acceleration<Body> is what an accelerometer reads — specific force, which includes the reaction to gravity and is why a level, stationary sensor reads -γ on its down axis. Acceleration<Ned> is how the vehicle is actually accelerating, gravity excluded. Equation (11) relates them.

Implementations

impl<F: Frame> Acceleration<F>

pub fn from_array(components: [f32; 3]) -> Self

From components on the axes of F, in meters per second squared.

The frame is the type parameter, so name it: Position::<Ned>::from_array or a binding with a stated type. The frame-named constructors say it for you.

pub fn zero() -> Self

All components zero.

pub fn to_array(self) -> [f32; 3]

The components on the axes of F, in meters per second squared.

pub fn x(self) -> f32

First component on the axes of F: north, east for ENU, or body forward.

pub fn y(self) -> f32

Second component on the axes of F: east, north for ENU, or body right.

pub fn z(self) -> f32

Third component on the axes of F: down, up for ENU, or body down.

impl Acceleration<Ned>

pub fn ned(north: f32, east: f32, down: f32) -> Self

From north, east, down components.

impl Acceleration<Enu>

pub fn enu(east: f32, north: f32, up: f32) -> Self

From east, north, up components, as ROS and most GIS tools use. Convert with to_ned before handing it to the filter.

pub fn to_ned(self) -> Acceleration<Ned>

The same vector in north, east, down.

impl Acceleration<Ned>

pub fn to_enu(self) -> Acceleration<Enu>

The same vector in east, north, up, for a consumer in ROS’s navigation frame: the inverse of to_ned.

impl Acceleration<Body>

pub fn body(forward: f32, right: f32, down: f32) -> Self

Specific force from forward, right, down components.

pub fn flu(forward: f32, left: f32, up: f32) -> Self

Specific force from forward, left, up components, converted to forward, right, down.

pub fn to_flu(self) -> [f32; 3]

Forward, left, up components: the inverse of flu. An array rather than a framed vector, since FLU is converted at the edge and no quantity in the filter is held in it.

Trait Implementations

impl<F: Frame> Clone for Acceleration<F>

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<F: Frame> Copy for Acceleration<F>

impl<F: Frame> Debug for Acceleration<F>

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

Formats the value using the given formatter.

impl<F: Frame> Default for Acceleration<F>

fn default() -> Self

Returns the “default value” for a type.

impl<F: Frame> Format for Acceleration<F>

Available on crate feature defmt only.

fn format(&self, f: Formatter<'_>)

Writes the defmt representation of self to fmt.

impl<F: Frame> PartialEq for Acceleration<F>

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

Equality operator ==.

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

Inequality operator !=.