Add local and body frame transforms

README.md

@@ -88,11 +88,28 @@ converted to the desired coordinate system:
 
 ```
 aer2ecef  aer2enu  aer2geodetic  aer2ned
+         aer2nwu  aer2sez
+body2ecef body2ecefv body2enu body2geodetic body2ned
+         body2nwu body2sez
 ecef2aer  ecef2enu  ecef2enuv  ecef2geodetic  ecef2ned  ecef2nedv
+         ecef2body ecef2bodyv
+         ecef2nwu  ecef2nwuv  ecef2sez  ecef2sezv
 ecef2eci  eci2ecef eci2aer aer2eci geodetic2eci eci2geodetic
 enu2aer  enu2ecef   enu2geodetic
-geodetic2aer  geodetic2ecef  geodetic2enu  geodetic2ned
+         enu2body  enu2body_matrix
+         ecef2enu_matrix  enu2ecef_matrix
+geodetic2aer  geodetic2body  geodetic2ecef  geodetic2enu  geodetic2ned
+              geodetic2nwu  geodetic2sez
 ned2aer  ned2ecef   ned2geodetic
+         ned2body  ned2body_matrix
+nwu2body nwu2body_matrix
+sez2body sez2body_matrix
+         ecef2ned_matrix  ned2ecef_matrix
+nwu2aer  nwu2ecef   nwu2geodetic
+         ecef2nwu_matrix  nwu2ecef_matrix
+sez2aer  sez2ecef   sez2geodetic
+         ecef2sez_matrix  sez2ecef_matrix
+body_matrix body2enu_matrix body2ned_matrix body2nwu_matrix body2sez_matrix
 azel2radec radec2azel
 lookAtSpheroid
 track2 departure meanm
@@ -123,8 +140,52 @@ Abbreviations:
 * [ECI: Earth-centered Inertial using IERS](https://www.iers.org/IERS/EN/Home/home_node.html) via `astropy`
 * [ENU: East North Up](https://en.wikipedia.org/wiki/Axes_conventions#Ground_reference_frames:_ENU_and_NED)
 * [NED: North East Down](https://en.wikipedia.org/wiki/North_east_down)
+* NWU: North West Up
+* SEZ: South East Zenith
 * [radec: right ascension, declination](https://en.wikipedia.org/wiki/Right_ascension)
 
+### Local Frames
+
+PyMap3D includes several local tangent-plane frames:
+
+* `ENU` East, North, Up
+* `NED` North, East, Down
+* `NWU` North, West, Up
+* `SEZ` South, East, Zenith
+
+For vector-only workflows, explicit 3x3 rotation matrices are also available:
+
+```python
+import pymap3d as pm
+
+r_ecef_to_enu = pm.ecef2enu_matrix(lat0, lon0)
+r_enu_to_ecef = pm.enu2ecef_matrix(lat0, lon0)
+```
+
+### Body Frame
+
+PyMap3D also includes an aerospace body frame:
+
+* `x` forward
+* `y` right
+* `z` down
+
+The default body attitude uses yaw / pitch / roll with `sequence="zyx"`:
+
+* positive yaw turns right
+* positive pitch is nose up
+* positive roll is right wing down
+
+```python
+import pymap3d as pm
+
+xb, yb, zb = pm.ned2body(n, e, d, yaw, pitch, roll)
+n, e, d = pm.body2ned(xb, yb, zb, yaw, pitch, roll)
+```
+
+The composed body transforms can use any of the supported local parent frames:
+`frame="ned"`, `frame="enu"`, `frame="nwu"`, or `frame="sez"`.
+
 ### Ellipsoid
 
 Numerous functions in pymap3d use an ellipsoid model.

src/pymap3d/__init__.py

@@ -32,6 +32,31 @@
 __version__ = "3.2.0"
 
 from .aer import aer2ecef, aer2geodetic, ecef2aer, geodetic2aer
+from .body import (
+    body2ecef,
+    body2ecefv,
+    body2enu,
+    body2enu_matrix,
+    body2geodetic,
+    body2ned,
+    body2ned_matrix,
+    body2nwu,
+    body2nwu_matrix,
+    body2sez,
+    body2sez_matrix,
+    body_matrix,
+    ecef2body,
+    ecef2bodyv,
+    enu2body,
+    enu2body_matrix,
+    geodetic2body,
+    ned2body,
+    ned2body_matrix,
+    nwu2body,
+    nwu2body_matrix,
+    sez2body,
+    sez2body_matrix,
+)
 from .dca import (
     enu2dca,
     dca2enu,
@@ -57,16 +82,50 @@
     uvw2enu,
 )
 from .ellipsoid import Ellipsoid
-from .enu import aer2enu, enu2aer, enu2geodetic, geodetic2enu, enu2ecefv
+from .enu import (
+    aer2enu,
+    enu2aer,
+    enu2geodetic,
+    geodetic2enu,
+    enu2ecefv,
+    ecef2enu_matrix,
+    enu2ecef_matrix,
+)
 from .ned import (
     aer2ned,
     ecef2ned,
     ecef2nedv,
+    ecef2ned_matrix,
     geodetic2ned,
+    ned2ecef_matrix,
     ned2aer,
     ned2ecef,
     ned2geodetic,
 )
+from .nwu import (
+    aer2nwu,
+    ecef2nwu,
+    ecef2nwuv,
+    ecef2nwu_matrix,
+    geodetic2nwu,
+    nwu2aer,
+    nwu2ecef,
+    nwu2ecefv,
+    nwu2ecef_matrix,
+    nwu2geodetic,
+)
+from .sez import (
+    aer2sez,
+    ecef2sez,
+    ecef2sezv,
+    ecef2sez_matrix,
+    geodetic2sez,
+    sez2aer,
+    sez2ecef,
+    sez2ecefv,
+    sez2ecef_matrix,
+    sez2geodetic,
+)
 from .sidereal import datetime2sidereal, greenwichsrt
 from .spherical import geodetic2spherical, spherical2geodetic
 from .timeconv import str2dt
@@ -97,6 +156,29 @@
     "aer2geodetic",
     "ecef2aer",
     "geodetic2aer",
+    "body_matrix",
+    "ned2body_matrix",
+    "body2ned_matrix",
+    "enu2body_matrix",
+    "body2enu_matrix",
+    "ned2body",
+    "body2ned",
+    "enu2body",
+    "body2enu",
+    "sez2body",
+    "body2sez",
+    "nwu2body",
+    "body2nwu",
+    "sez2body_matrix",
+    "body2sez_matrix",
+    "nwu2body_matrix",
+    "body2nwu_matrix",
+    "ecef2body",
+    "body2ecef",
+    "ecef2bodyv",
+    "body2ecefv",
+    "geodetic2body",
+    "body2geodetic",
     "ecef2enu",
     "ecef2enuv",
     "ecef2geodetic",
@@ -112,13 +194,37 @@
     "enu2geodetic",
     "enu2ecefv",
     "geodetic2enu",
+    "ecef2enu_matrix",
+    "enu2ecef_matrix",
     "aer2ned",
     "ecef2ned",
     "ecef2nedv",
+    "ecef2ned_matrix",
     "geodetic2ned",
     "ned2aer",
     "ned2ecef",
+    "ned2ecef_matrix",
     "ned2geodetic",
+    "aer2sez",
+    "ecef2sez",
+    "ecef2sezv",
+    "ecef2sez_matrix",
+    "geodetic2sez",
+    "sez2aer",
+    "sez2ecef",
+    "sez2ecefv",
+    "sez2ecef_matrix",
+    "sez2geodetic",
+    "aer2nwu",
+    "ecef2nwu",
+    "ecef2nwuv",
+    "ecef2nwu_matrix",
+    "geodetic2nwu",
+    "nwu2aer",
+    "nwu2ecef",
+    "nwu2ecefv",
+    "nwu2ecef_matrix",
+    "nwu2geodetic",
     "datetime2sidereal",
     "greenwichsrt",
     "geodetic2spherical",