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Position

fusion_nav::prelude

Struct Position

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

Expand description

Position relative to the navigation origin, in meters; or, in Body axes, where a sensor sits relative to the IMU, which is what the GNSS fuse_* take as antenna.

See Eskf::origin for where the origin is.

Implementations§

impl<F: Frame> Position<F>

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

From components on the axes of F, in meters.

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.

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 Position<Ned>

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

From north, east, down components.

impl Position<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) -> Position<Ned>

The same vector in north, east, down.

impl Position<Ned>

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

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

impl Position<Body>

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

Offset from the IMU from forward, right, down components.

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

Offset from the IMU 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 Position<F>

fn clone(&self) -> Self

Returns a duplicate of the value. Read more

1.0.0 (const: unstable) · Source§

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

Performs copy-assignment from source. Read more

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

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

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

Formats the value using the given formatter. Read more

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

fn default() -> Self

Returns the “default value” for a type. Read more

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

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

Equality operator ==. Read more

1.0.0 (const: unstable) · Source§

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

Inequality operator !=. Read more

Auto Trait Implementations§

impl<F> Freeze for Position<F>
where PhantomData<F>: Freeze,

impl<F> RefUnwindSafe for Position<F>
where PhantomData<F>: RefUnwindSafe,

impl<F> Send for Position<F>
where PhantomData<F>: Send,

impl<F> Sync for Position<F>
where PhantomData<F>: Sync,

impl<F> Unpin for Position<F>
where PhantomData<F>: Unpin,

impl<F> UnsafeUnpin for Position<F>
where PhantomData<F>: UnsafeUnpin,

impl<F> UnwindSafe for Position<F>
where PhantomData<F>: UnwindSafe,

Blanket Implementations§

impl<T> Any for T
where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

impl<T> Borrow<T> for T
where T: ?Sized,

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

impl<T> BorrowMut<T> for T
where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

impl<T> CloneToUninit for T
where T: Clone,

unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)

Performs copy-assignment from self to dest. Read more

impl<T> From<T> for T

fn from(t: T) -> T

Returns the argument unchanged.

impl<T, U> Into<U> for T
where U: From<T>,

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

impl<T> Same for T

type Output = T

Should always be Self

impl<T> Scalar for T
where T: 'static + Clone + PartialEq + Debug,

impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

impl<T, U> TryFrom<U> for T
where U: Into<T>,

type Error = !

The type returned in the event of a conversion error.

fn try_from(value: U) -> Result<T, !>

Performs the conversion.

impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.

fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.