geographic_coordinates
Personal project | ongoing
Overview
A small library for converting between the three coordinate frames that show up constantly in vehicle localization: geodetic coordinates (latitude/longitude/height, what a GNSS receiver hands you), Earth-Centered- Earth-Fixed (ECEF) coordinates, and a local East-North-Up (ENU) frame - built on the WGS84 ellipsoid, the datum GPS itself uses.
Why it exists
Raw GNSS output is geodetic and effectively unusable directly for local motion planning or control - a change in latitude near the equator covers a different physical distance than the same change near a pole, and the numbers don't behave like a flat Cartesian frame at all. This library anchors a local ENU frame at a chosen origin and converts to and from it, so downstream code can work in plain, locally-flat meters instead of degrees of latitude and longitude.
Interface
A C++ core with a thin Python binding layer (via a C API), so the same tested conversion code is usable from either language without maintaining two implementations.
Status
Public C++/Python library, ongoing personal project.