Expose the functions for converting vectors between ECEF and NED

swiftnav-sys/build.rs

@@ -135,6 +135,9 @@ fn main() {
         .allowlist_function("wgsllh2ecef")
         .allowlist_function("wgsecef2llh")
         .allowlist_function("wgsecef2azel")
+        .allowlist_function("wgsecef2ned")
+        .allowlist_function("wgsned2ecef")
+        .allowlist_function("wgsecef2azel")
         .allowlist_type("ionosphere_t")
         .allowlist_function("calc_ionosphere")
         .allowlist_function("decode_iono_parameters")

swiftnav/src/coords.rs

@@ -297,6 +297,16 @@ impl ECEF {
         };
         azel
     }
+
+    /// Rotate a vector from ECEF coordinates into NED coordinates, at a given
+    /// reference point. This is approporiate for converting velocity vectors.
+    ///
+    /// This is the inverse of [NED::ecef_vector_at].
+    pub fn ned_vector_at(&self, point: &ECEF) -> NED {
+        let mut ned = NED::default();
+        unsafe { swiftnav_sys::wgsecef2ned(self.as_ptr(), point.as_ptr(), ned.as_mut_ptr()) };
+        ned
+    }
 }
 
 impl Default for ECEF {
@@ -359,6 +369,16 @@ impl NED {
     pub fn d(&self) -> f64 {
         self.0[2]
     }
+
+    /// Rotate a vector from NED coordinates into ECEF coordinates, at a given
+    /// reference point. This is approporiate for converting velocity vectors.
+    ///
+    /// This is the inverse of [ECEF::ned_vector_at].
+    pub fn ecef_vector_at(&self, ref_ecef: &ECEF) -> ECEF {
+        let mut ecef = ECEF::default();
+        unsafe { swiftnav_sys::wgsned2ecef(self.as_ptr(), ref_ecef.as_ptr(), ecef.as_mut_ptr()) };
+        ecef
+    }
 }
 
 impl Default for NED {