$ show helsing-ai/sguaba
Sguaba is a Rust library that provides hard-to-misuse rigid body transforms (spatial math) for engineers. It enforces coordinate system safety at the type level using PhantomData and unsafe declarations, preventing accidental mixing of coordinate frames (e.g., NED vs FRD vs ENU). The library supports common Earth-bound systems (WGS84, ECEF) and local systems (NED, FRD, ENU), and provides both a mathematical API (Rotation, RigidBodyTransform) and an engineering-focused API (Orientation, Pose). It includes fast and extended algorithms for ECEF-WGS84 conversion based on recent research. The code is well-structured, thoroughly tested, and supports no_std environments via a libm feature. Active development with semantic versioning, comprehensive CI, and dependency management.
The LLM identified 3 files worth highlighting for reuse:
Provides a FloatMath trait that abstracts over std::f64 and libm::f64, enabling the library to work in no_std environments. The trait is self-contained and could be extracted as a small utility crate for any Rust project needing no_std-compatible floating-point operations.
Implements BoundedAngle, a utility for normalizing angles to [0, 360°) and converting to signed ranges. Includes ApproxEq implementations that handle wrap-around comparisons. Self-contained and reusable for any angular math project.
Contains high-precision ECEF to WGS84 conversion using two algorithms: a fast iterative method based on Shu & Li (2010) for near-surface altitudes, and a closed-form method based on Quan & Zhang (2024) for extreme altitudes. Includes altitude range checks and extensive tests. The conversion logic is mathematically self-contained and could be extracted with minor adaptations for other geodetic libraries.