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https://github.com/sunsided/coordinate-frame

Very simple coordinate frame conversions in Rust
https://github.com/sunsided/coordinate-frame

aerospace coordinate-systems no-std north-east-down robotics rust

Last synced: 4 months ago
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Very simple coordinate frame conversions in Rust

Host: GitHub
URL: https://github.com/sunsided/coordinate-frame
Owner: sunsided
License: apache-2.0
Created: 2024-07-08T07:07:00.000Z (7 months ago)
Default Branch: main
Last Pushed: 2024-07-14T13:08:35.000Z (7 months ago)
Last Synced: 2024-10-11T02:29:56.463Z (4 months ago)
Topics: aerospace, coordinate-systems, no-std, north-east-down, robotics, rust
Language: Rust
Homepage: https://crates.io/crates/coordinate-frame
Size: 104 KB
Stars: 0
Watchers: 2
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md

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README

        # Simple coordinate frame conversions

[![Crates.io][crates-image]][crates-link]

[![Docs][docs-image]][docs-link]

[![Build Status][build-image]][build-link]

[![Safety Dance][safety-image]][safety-link]

![MSRV][msrv-image]

[![EUPL 1.2 licensed][license-eupl-image]][license-eupl-link]

[![Apache 2.0 licensed][license-apache-image]][license-apache-link]

[![MIT licensed][license-mit-image]][license-mit-link]

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`.

## Example

```rust

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);

}

```

## Code of Conduct

We abide by the [Contributor Covenant][cc] and ask that you do as well.

## License

Copyright © 2024 Markus Mayer

Triple licensed under your choice of either of:

- European Union Public Licence, Version 1.2, ([LICENSE-EUPL](LICENSE-EUPL)

  or https://joinup.ec.europa.eu/collection/eupl/eupl-text-eupl-12)

- Apache License, Version 2.0, ([LICENSE-APACHE](LICENSE-APACHE) or http://www.apache.org/licenses/LICENSE-2.0)

- MIT license ([LICENSE-MIT](LICENSE-MIT) or http://opensource.org/licenses/MIT)

[crates-image]: https://img.shields.io/crates/v/coordinate-frame

[crates-link]: https://crates.io/crates/coordinate-frame

[docs-image]: https://docs.rs/coordinate-frame/badge.svg

[docs-link]: https://docs.rs/coordinate-frame/

[build-image]: https://github.com/sunsided/coordinate-frame/workflows/Rust/badge.svg

[build-link]: https://github.com/sunsided/coordinate-frame/actions

[safety-image]: https://img.shields.io/badge/unsafe-forbidden-success.svg

[safety-link]: https://github.com/rust-secure-code/safety-dance/

[msrv-image]: https://img.shields.io/badge/rustc-1.64+-blue.svg

[license-eupl-image]: https://img.shields.io/badge/license-EUPL_1.2-blue.svg

[license-apache-image]: https://img.shields.io/badge/license-Apache_2.0-blue.svg

[license-mit-image]: https://img.shields.io/badge/license-MIT-blue.svg

[license-apache-link]: https://github.com/sunsided/coordinate-frame/blob/develop/LICENSE-APACHE

[license-mit-link]: https://github.com/sunsided/coordinate-frame/blob/develop/LICENSE-MIT

[license-eupl-link]: https://github.com/sunsided/coordinate-frame/blob/develop/LICENSE-EUPL

[cc]: https://contributor-covenant.org