Struct Bearing 

pub struct Bearing<In> { /* private fields */ }

A direction (conceptually represented as a unit vector) in the CoordinateSystem In.

A Bearing has an azimuth and elevation, whose meanings differ for different kinds of coordinate systems (although there are conventions). The meaning of azimuth and elevation for a given coordinate system is defined by its implementation of BearingDefined. For example, a bearing azimuth in an FRD system is relative to the forward direction of the system, while in both NED and ENU (somewhat counter-intuitively) it is relative to North. In general, azimuth tends to align with yaw and elevation with pitch (as defined by Tait-Bryan angles).

See also horizontal coordinate systems.

To construct a bearing, you can either use a builder via Bearing::builder or provide a Components to Bearing::build. The following are equivalent:

use sguaba::{Bearing, system};
use uom::si::f64::Angle;
use uom::si::angle::degree;

system!(struct PlaneFrd using FRD);

Bearing::<PlaneFrd>::builder()
    // clockwise from forward
    .azimuth(Angle::new::<degree>(20.))
    // upwards from straight-ahead
    .elevation(Angle::new::<degree>(10.))
    .expect("elevation is in [-90º, 90º]")
    .build();

use sguaba::{Bearing, system, builder::bearing::Components};
use uom::si::f64::Angle;
use uom::si::angle::degree;

system!(struct PlaneFrd using FRD);

Bearing::<PlaneFrd>::build(Components {
  // clockwise from forward
  azimuth: Angle::new::<degree>(20.),
  // upwards from straight-ahead
  elevation: Angle::new::<degree>(10.),
}).expect("elevation is in [-90º, 90º]");

Implementations

impl<In> Bearing<In>

pub fn build(_: Components) -> Option<Self>

Constructs a bearing towards the given azimuth and elevation in the CoordinateSystem In.

The elevation must be in [-90°,90°] % 360°. If it is not, this function returns None.

pub fn builder() -> Builder<In, MissingAzimuth, MissingElevation>

Provides a constructor for a bearing in the CoordinateSystem In.

pub fn to_builder(self) -> Builder<In, HasAzimuth, HasElevation>

Turns a Bearing back into a builder so that its components can be modified.

pub fn new( azimuth: impl Into<Angle>, elevation: impl Into<Angle>, ) -> Option<Self>

👎Deprecated: prefer Bearing::build or Bearing::builder to avoid risk of argument order confusion

Constructs a bearing towards the given azimuth and elevation in the CoordinateSystem In.

Prefer Bearing::build or Bearing::builder to avoid risk of argument order confusion. This function will be removed in a future version of Sguaba in favor of those.

The elevation must be in [-90°,90°] % 360°. If it is not, this function returns None.

pub fn azimuth(&self) -> Angle

Returns the azimuthal angle of this bearing.

The definition of the azimuthal angle depends on the implementation of BearingDefined for In.

There is no guarantee on the numeric range of the azimuthal angle.

pub fn elevation(&self) -> Angle

Returns the elevation angle of this bearing.

The definition of the azimuthal angle depends on the implementation of BearingDefined for In.

The returned value is always in [-90°, 90°] ± N × 360°.

pub fn to_unit_vector(&self) -> Vector<In>

where In: BearingDefined,

Returns a unit vector pointing away from origin at this bearing.

pub fn zero() -> Self

Constructs a bearing in coordinate system In with azimuth and elevation set to 0.

The definition of the azimuthal angle depends on the implementation of BearingDefined for In.

Trait Implementations

impl<In> AbsDiffEq for Bearing<In>

Available on crate features approx only.

type Epsilon = <f64 as AbsDiffEq>::Epsilon

Used for specifying relative comparisons.

fn default_epsilon() -> Self::Epsilon

The default tolerance to use when testing values that are close together.

fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool

A test for equality that uses the absolute difference to compute the approximate equality of two numbers.

fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool

The inverse of AbsDiffEq::abs_diff_eq.

impl<In> Clone for Bearing<In>

fn clone(&self) -> Self

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<In: Debug> Debug for Bearing<In>

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

Formats the value using the given formatter.

impl<In> Default for Bearing<In>

fn default() -> Self

Returns the “default value” for a type.

impl<'de, In> Deserialize<'de> for Bearing<In>

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl<In> Display for Bearing<In>

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

Formats the value using the given formatter.

impl<From, To> Mul<Bearing<To>> for RigidBodyTransform<From, To>

where From: BearingDefined, To: BearingDefined,

type Output = Bearing<From>

The resulting type after applying the * operator.

fn mul(self, rhs: Bearing<To>) -> Self::Output

Performs the * operation.

impl<From, To> Mul<Bearing<To>> for Rotation<From, To>

where From: BearingDefined, To: BearingDefined,

type Output = Bearing<From>

The resulting type after applying the * operator.

fn mul(self, rhs: Bearing<To>) -> Self::Output

Performs the * operation.

impl<From, To> Mul<RigidBodyTransform<From, To>> for Bearing<From>

where From: BearingDefined, To: BearingDefined,

type Output = Bearing<To>

The resulting type after applying the * operator.

fn mul(self, rhs: RigidBodyTransform<From, To>) -> Self::Output

Performs the * operation.

impl<From, To> Mul<Rotation<From, To>> for Bearing<From>

where From: BearingDefined, To: BearingDefined,

type Output = Bearing<To>

The resulting type after applying the * operator.

fn mul(self, rhs: Rotation<From, To>) -> Self::Output

Performs the * operation.

impl<In> PartialEq for Bearing<In>

fn eq(&self, other: &Self) -> 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<In> RelativeEq for Bearing<In>

Available on crate features approx only.

fn default_max_relative() -> Self::Epsilon

The default relative tolerance for testing values that are far-apart.

fn relative_eq( &self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

A test for equality that uses a relative comparison if the values are far apart.

fn relative_ne( &self, other: &Rhs, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

The inverse of RelativeEq::relative_eq.

impl<In> Serialize for Bearing<In>

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl<In> Copy for Bearing<In>