Removed use of Vec3 in favor of specific coordinate types

Author: jbangelo

src/coords.rs

@@ -73,6 +73,14 @@ impl<T: Angle> LLH<T> {
         &mut self.0
     }
 
+    pub fn as_array_ref(&self) -> &[f64; 3] {
+        &self.0
+    }
+
+    pub fn as_mut_array_ref(&mut self) -> &mut [f64; 3] {
+        &mut self.0
+    }
+
     pub fn latitude(&self) -> f64 {
         self.0[0]
     }
@@ -163,6 +171,14 @@ impl ECEF {
         &mut self.0
     }
 
+    pub fn as_array_ref(&self) -> &[f64; 3] {
+        &self.0
+    }
+
+    pub fn as_mut_array_ref(&mut self) -> &mut [f64; 3] {
+        &mut self.0
+    }
+
     pub fn x(&self) -> f64 {
         self.0[0]
     }

src/ephemeris.rs

@@ -10,10 +10,9 @@
 
 use crate::{
     c_bindings,
-    coords::AzimuthElevation,
+    coords::{AzimuthElevation, ECEF},
     signal::{Code, Constellation, GnssSignal},
     time::GpsTime,
-    Vec3,
 };
 use std::fmt::{Display, Formatter};
 
@@ -268,9 +267,9 @@ impl Ephemeris {
     /// Calculate satellite position, velocity and clock offset from ephemeris.
     pub fn calc_satellite_state(&self, t: &GpsTime) -> Result<SatelliteState> {
         let mut sat = SatelliteState {
-            pos: Vec3::default(),
-            vel: Vec3::default(),
-            acc: Vec3::default(),
+            pos: ECEF::default(),
+            vel: ECEF::default(),
+            acc: ECEF::default(),
             clock_err: 0.0,
             clock_rate_err: 0.0,
             iodc: 0,
@@ -298,7 +297,7 @@ impl Ephemeris {
 
     /// Calculate the azimuth and elevation of a satellite from a reference
     /// position given the satellite ephemeris.
-    pub fn calc_satellite_az_el(&self, t: &GpsTime, pos: &Vec3) -> Result<AzimuthElevation> {
+    pub fn calc_satellite_az_el(&self, t: &GpsTime, pos: &ECEF) -> Result<AzimuthElevation> {
         let mut sat = AzimuthElevation::default();
 
         let result = unsafe {
@@ -322,7 +321,7 @@ impl Ephemeris {
 
     /// Calculate the Doppler shift of a satellite as observed at a reference
     /// position given the satellite ephemeris.
-    pub fn calc_satellite_doppler(&self, t: &GpsTime, pos: &Vec3, vel: &Vec3) -> Result<f64> {
+    pub fn calc_satellite_doppler(&self, t: &GpsTime, pos: &ECEF, vel: &ECEF) -> Result<f64> {
         let mut doppler = 0.0;
 
         let result = unsafe {
@@ -379,11 +378,11 @@ impl Default for Ephemeris {
 /// certain time.
 pub struct SatelliteState {
     /// Calculated satellite position, in meters
-    pub pos: Vec3,
+    pub pos: ECEF,
     /// Calculated satellite velocity, in meters/second
-    pub vel: Vec3,
+    pub vel: ECEF,
     /// Calculated satellite acceleration, meters/second/second
-    pub acc: Vec3,
+    pub acc: ECEF,
     /// Calculated satellite clock error, in seconds
     pub clock_err: f64,
     /// Calculated satellite clock error rate, in seconds/second

src/lib.rs

@@ -22,60 +22,3 @@ pub mod ionosphere;
 pub mod signal;
 pub mod time;
 pub mod troposphere;
-
-#[derive(Copy, Clone, Debug, Default)]
-pub struct Vec3([f64; 3]);
-
-impl Vec3 {
-    pub fn new(x: f64, y: f64, z: f64) -> Vec3 {
-        Vec3([x, y, z])
-    }
-
-    pub fn from_array(a: &[f64; 3]) -> Vec3 {
-        Vec3(*a)
-    }
-
-    pub fn get_x(&self) -> f64 {
-        self.0[0]
-    }
-
-    pub fn get_y(&self) -> f64 {
-        self.0[1]
-    }
-
-    pub fn get_z(&self) -> f64 {
-        self.0[2]
-    }
-
-    pub fn set_x(&mut self, new_x: f64) {
-        self.0[0] = new_x;
-    }
-
-    pub fn set_y(&mut self, new_y: f64) {
-        self.0[1] = new_y;
-    }
-
-    pub fn set_z(&mut self, new_z: f64) {
-        self.0[2] = new_z;
-    }
-
-    pub fn as_array_ref(&self) -> &[f64; 3] {
-        &self.0
-    }
-
-    pub fn as_mut_array_ref(&mut self) -> &mut [f64; 3] {
-        &mut self.0
-    }
-}
-
-impl AsRef<[f64; 3]> for Vec3 {
-    fn as_ref(&self) -> &[f64; 3] {
-        &self.0
-    }
-}
-
-impl AsMut<[f64; 3]> for Vec3 {
-    fn as_mut(&mut self) -> &mut [f64; 3] {
-        &mut self.0
-    }
-}