Reference frame conversions and Earth constants.
Reference frame conversions and Earth constants.
(ecef->enu origin-pose target-ecef)Convert ECEF vector into ENU coordinates relative to ORIGIN pose.
Convert ECEF vector into ENU coordinates relative to ORIGIN pose.
(ecef->geodetic [x y z])Convert ECEF vector to geodetic coordinates (deg, deg, meters). Uses iterative method for high precision.
Convert ECEF vector to geodetic coordinates (deg, deg, meters). Uses iterative method for high precision.
(enu->ecef origin-pose [e n u])Convert ENU vector back to ECEF coordinates relative to ORIGIN pose.
Convert ENU vector back to ECEF coordinates relative to ORIGIN pose.
(geodetic->ecef {:keys [lat-deg lon-deg alt-m]})Convert geodetic coordinates (deg, deg, meters) to Earth-Centered, Earth-Fixed vector.
Convert geodetic coordinates (deg, deg, meters) to Earth-Centered, Earth-Fixed vector.
(geodetic->enu origin-pose {:keys [lat-deg lon-deg alt-m]})Return ENU pose of target with respect to origin pose (WGS84 inputs).
Return ENU pose of target with respect to origin pose (WGS84 inputs).
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