nvector package

Geodesic functions

closest_point_on_great_circle(path, n_EB_E)

Returns closest point C on great circle path A to position B.

cross_track_distance(path, n_EB_E[, method, …])

Returns cross track distance between path A and position B.

euclidean_distance(n_EA_E, n_EB_E[, radius])

Returns Euclidean distance between positions A and B

great_circle_distance(n_EA_E, n_EB_E[, radius])

Returns great circle distance between positions A and B

intersect(path_a, path_b)

Returns the intersection(s) between the great circles of the two paths

lat_lon2n_E(latitude, longitude[, R_Ee])

Converts latitude and longitude to n-vector.

mean_horizontal_position(n_EB_E)

Returns the n-vector of the horizontal mean position.

n_E2lat_lon(n_E[, R_Ee])

Converts n-vector to latitude and longitude.

n_EB_E2p_EB_E(n_EB_E[, depth, a, f, R_Ee])

Converts n-vector to Cartesian position vector in meters.

p_EB_E2n_EB_E(p_EB_E[, a, f, R_Ee])

Converts Cartesian position vector in meters to n-vector.

n_EA_E_and_n_EB_E2p_AB_E(n_EA_E, n_EB_E[, …])

Returns the delta vector from position A to B decomposed in E.

n_EA_E_and_p_AB_E2n_EB_E(n_EA_E, p_AB_E[, …])

Returns position B from position A and delta.

n_EA_E_and_n_EB_E2azimuth(n_EA_E, n_EB_E[, …])

Returns azimuth from A to B, relative to North:

n_EA_E_distance_and_azimuth2n_EB_E(n_EA_E, …)

Returns position B from azimuth and distance from position A

on_great_circle(path, n_EB_E[, radius, atol])

True if position B is on great circle through path A.

on_great_circle_path(path, n_EB_E[, radius, …])

True if position B is on great circle and between endpoints of path A.

Rotation matrices and angles

E_rotation([axes])

Returns rotation matrix R_Ee defining the axes of the coordinate frame E.

n_E2R_EN(n_E[, R_Ee])

Returns the rotation matrix R_EN from n-vector.

n_E_and_wa2R_EL(n_E, wander_azimuth[, R_Ee])

Returns rotation matrix R_EL from n-vector and wander azimuth angle.

R_EL2n_E(R_EL)

Returns n-vector from the rotation matrix R_EL.

R_EN2n_E(R_EN)

Returns n-vector from the rotation matrix R_EN.

R2xyz(R_AB)

Returns the angles about new axes in the xyz-order from a rotation matrix.

R2zyx(R_AB)

Returns the angles about new axes in the zxy-order from a rotation matrix.

xyz2R(x, y, z)

Returns rotation matrix from 3 angles about new axes in the xyz-order.

zyx2R(z, y, x)

Returns rotation matrix from 3 angles about new axes in the zyx-order.

Misc functions

deg(\*rad_angles)

Converts angle in radians to degrees.

mdot(a, b)

Returns multiple matrix multiplications of two arrays

nthroot(x, n)

Returns the n’th root of x to machine precision

rad(\*deg_angles)

Converts angle in degrees to radians.

select_ellipsoid(name)

Returns semi-major axis (a), flattening (f) and name of ellipsoid

unit(vector[, norm_zero_vector])

Convert input vector to a vector of unit length.

OO interface to Geodesic functions

delta_E(point_a, point_b)

Returns cartesian delta vector from positions a to b decomposed in E.

delta_N(point_a, point_b)

Returns cartesian delta vector from positions a to b decomposed in N.

delta_L(point_a, point_b[, wander_azimuth])

Returns cartesian delta vector from positions a to b decomposed in L.

diff_positions(\*args, \*\*kwds)

diff_positions is deprecated!

ECEFvector(pvector[, frame, scalar])

Geographical position given as Cartesian position vector in frame E

FrameB(position[, yaw, pitch, roll, degrees])

Body frame

FrameE([a, f, name, axes])

Earth-fixed frame

FrameN(position)

North-East-Down frame

FrameL(position[, wander_azimuth])

Local level, Wander azimuth frame

GeoPoint(latitude, longitude[, z, frame, …])

Geographical position given as latitude, longitude, depth in frame E.

GeoPath(point_a, point_b)

Geographical path between two positions in Frame E

Nvector(normal[, z, frame])

Geographical position given as n-vector and depth in frame E

Pvector(pvector, frame[, scalar])

Cartesian position vector in relative to a frame.