Very simple coordinate frame conversions in Rust
APACHE-2.0 License
This crate aims at supporting simple conversions between different standard and non-standard
coordinate frames. One potential use-case is in prototyping IMU sensor data where multiple
inertial or field sensors may be mounted in different orientations. These can then be expressed
in terms of coordinate frames such as EastNorthUp
and trivially converted
to whatever basis you prefer, for example NorthEastDown
.
use coordinate_frame::{NorthEastDown, NorthEastUp};
fn example() {
// Construct a coordinate in one reference frame.
let neu = NorthEastUp::new(1.0, 2.0, 3.0);
assert_eq!(neu.north(), 1.0);
assert_eq!(neu.east(), 2.0);
assert_eq!(neu.up(), 3.0);
// Note that "non-native" axes are also available.
assert_eq!(neu.down(), -3.0);
// You can transform it into a different frame.
let ned: NorthEastDown<_> = neu.into();
assert_eq!(ned.north(), 1.0);
assert_eq!(ned.east(), 2.0);
assert_eq!(ned.down(), -3.0);
// Information is available as you'd expect.
assert_eq!(ned, &[1.0, 2.0, -3.0]);
assert_eq!(ned.x(), 1.0);
assert_eq!(ned.z(), -3.0);
}
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Copyright © 2024 Markus Mayer
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