Struct StrapdownState

pub struct StrapdownState {
    pub latitude: f64,
    pub longitude: f64,
    pub altitude: f64,
    pub velocity_north: f64,
    pub velocity_east: f64,
    pub velocity_down: f64,
    pub attitude: Rotation3<f64>,
    pub coordinate_convention: bool,
}

Basic structure for holding the strapdown mechanization state in the form of position, velocity, and attitude.

Attitude is stored in matrix form (rotation or direction cosine matrix) and position and velocity are stored as vectors. The order or the states depends on the coordinate system used. The struct does not care, but the coordinate system used will determine which functions you should use. Default is NED but nonetheless must be assigned. For computational simplicity, latitude and longitude are stored as radians.

Fields

latitude: f64

Latitude in radians

longitude: f64

Longitude in radians

altitude: f64

Altitude in meters

velocity_north: f64

Velocity north in m/s (NED frame)

velocity_east: f64

Velocity east in m/s (NED frame)

velocity_down: f64

Velocity down in m/s (NED frame)

attitude: Rotation3<f64>

Attitude as a rotation matrix (unchanged)

coordinate_convention: bool

Coordinate convention used for the state vector (NED or ENU; NED is true by default)

Implementations

impl StrapdownState

pub fn new( latitude: f64, longitude: f64, altitude: f64, velocity_north: f64, velocity_east: f64, velocity_down: f64, attitude: Rotation3<f64>, in_degrees: bool, ned: bool, ) -> StrapdownState

Create a new StrapdownState from explicit position and velocity components, and attitude

Arguments

• latitude - Latitude in radians or degrees (see in_degrees).
• longitude - Longitude in radians or degrees (see in_degrees).
• altitude - Altitude in meters.
• velocity_north - North velocity in m/s.
• velocity_east - East velocity in m/s.
• velocity_down - Down velocity in m/s.
• attitude - Rotation3 attitude matrix.
• in_degrees - If true, angles are provided in degrees and will be converted to radians.
• ned - If true, the coordinate convention is NED (North, East, Down), otherwise ENU (East, North, Up).

Trait Implementations

impl Clone for StrapdownState

fn clone(&self) -> StrapdownState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for StrapdownState

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

Formats the value using the given formatter.

impl Default for StrapdownState

fn default() -> Self

Returns the “default value” for a type.

impl From<&StrapdownState> for DVector<f64>

fn from(state: &StrapdownState) -> Self

Converts a reference to StrapdownState to a DVector in NED order, angles in radians.

impl From<&StrapdownState> for Vec<f64>

fn from(state: &StrapdownState) -> Self

Converts a reference to StrapdownState to a Vec in NED order, angles in radians.

impl From<StrapdownState> for DVector<f64>

fn from(state: StrapdownState) -> Self

Converts a StrapdownState to a DVector in NED order, angles in radians.

impl From<StrapdownState> for Vec<f64>

fn from(state: StrapdownState) -> Self

Converts a StrapdownState to a Vec in NED order, angles in radians.

impl TryFrom<&[f64]> for StrapdownState

fn try_from(slice: &[f64]) -> Result<Self, Self::Error>

Attempts to create a StrapdownState from a slice of 9 elements (NED order, radians).

type Error = &'static str

The type returned in the event of a conversion error.

impl TryFrom<Vec<f64>> for StrapdownState

fn try_from(vec: Vec<f64>) -> Result<Self, Self::Error>

Attempts to create a StrapdownState from a Vec of length 9 (NED order, radians).

type Error = &'static str

The type returned in the event of a conversion error.

impl Copy for StrapdownState