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use crate::Access;
use na::{RealField, Vector3};
use std::convert::Into;
use std::ops::{Add, AddAssign, Div, DivAssign, Mul, MulAssign, Sub, SubAssign};
#[derive(Debug, Copy, Clone, PartialEq)]
pub struct ENU<N: RealField>(Vector3<N>);
impl<N: RealField> ENU<N> {
pub fn new(e: N, n: N, u: N) -> ENU<N> {
ENU(Vector3::new(e, n, u))
}
pub fn norm(&self) -> N {
self.0.norm()
}
}
impl<N: RealField + Copy> ENU<N> {
pub fn east(&self) -> N {
self.0.x
}
pub fn north(&self) -> N {
self.0.y
}
pub fn up(&self) -> N {
self.0.z
}
}
impl<N: RealField + Copy + Add<N, Output = N>, T: Into<ENU<N>>> Add<T> for ENU<N> {
type Output = ENU<N>;
fn add(self, right: T) -> Self::Output {
ENU(self.0 + right.into().0)
}
}
impl<N: RealField + Copy + AddAssign<N>, T: Into<ENU<N>>> AddAssign<T> for ENU<N> {
fn add_assign(&mut self, right: T) {
self.0 += right.into().0
}
}
impl<N: RealField + Copy + Sub<N, Output = N>, T: Into<ENU<N>>> Sub<T> for ENU<N> {
type Output = ENU<N>;
fn sub(self, right: T) -> Self::Output {
ENU(self.0 - right.into().0)
}
}
impl<N: RealField + Copy + SubAssign<N>, T: Into<ENU<N>>> SubAssign<T> for ENU<N> {
fn sub_assign(&mut self, right: T) {
self.0 -= right.into().0
}
}
impl<N: RealField + Copy + Mul<N, Output = N>> Mul<N> for ENU<N> {
type Output = ENU<N>;
fn mul(self, right: N) -> Self::Output {
ENU(self.0 * right)
}
}
impl<N: RealField + Copy + MulAssign<N>> MulAssign<N> for ENU<N> {
fn mul_assign(&mut self, right: N) {
self.0 *= right
}
}
impl<N: RealField + Copy + Div<N, Output = N>> Div<N> for ENU<N> {
type Output = ENU<N>;
fn div(self, right: N) -> Self::Output {
ENU(self.0 / right)
}
}
impl<N: RealField + Copy + DivAssign<N>> DivAssign<N> for ENU<N> {
fn div_assign(&mut self, right: N) {
self.0 /= right
}
}
impl<N: RealField> Access<Vector3<N>> for ENU<N> {
fn access(self) -> Vector3<N> {
self.0
}
}
#[cfg(test)]
mod tests {
use super::*;
use crate::ned::NED;
quickcheck! {
fn create_enu(e: f32, n: f32, u: f32) -> () {
ENU::new(e, n, u);
}
fn get_components(e: f32, n: f32, u: f32) -> () {
let vec = ENU::new(e, n, u);
assert_eq!(vec.east(), e);
assert_eq!(vec.north(), n);
assert_eq!(vec.up(), u);
}
fn from_ned(n: f32, e: f32, d: f32) -> () {
let ned = NED::new(n, e, d);
let enu = ENU::from(ned);
assert_eq!(enu.east(), e);
assert_eq!(enu.north(), n);
assert_eq!(enu.up(), -d);
}
}
}