5.1. Object Oriented 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, use delta_E instead!
ECEFvector(pvector[, frame, scalar])	Geographical position given as cartesian position vector in frame E
FrameB(point[, yaw, pitch, roll, degrees])	Body frame
FrameE([a, f, name, axes])	Earth-fixed frame
FrameN(point)	North-East-Down frame
FrameL(point[, wander_azimuth])	Local level, Wander azimuth frame
GeoPath(point_a, point_b)	Geographical path between two positions in Frame E
GeoPoint(latitude, longitude[, z, frame, …])	Geographical position given as latitude, longitude, depth in frame E.
Nvector(normal[, z, frame])	Geographical position given as n-vector and depth in frame E
Pvector(pvector, frame[, scalar])	Geographical position given as cartesian position vector in a frame.

5.2. 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
great_circle_normal(n_EA_E, n_EB_E)	Returns the unit normal(s) to the great circle(s)
interp_nvectors(t_i, t, nvectors[, kind, …])	Returns interpolated values from nvector data.
interpolate(path, ti)	Returns the interpolated point along the path
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 E vector.
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])	Returns True if position B is on great circle through path A.
on_great_circle_path(path, n_EB_E[, radius, …])	Returns True if position B is on great circle and between endpoints of path A.

5.3. 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.

5.4. Utility functions

deg(*rad_angles)	Converts angle in radians to degrees.
mdot(a, b)	Returns multiple matrix multiplications of two arrays i.e. dot(a, b)[i,j,k] = sum(a[i,:,j] * b[:,j,k]).
nthroot(x, n)	Returns the n’th root of x to machine precision
rad(*deg_angles)	Converts angle in degrees to radians.
get_ellipsoid(name)	Returns semi-major axis (a), flattening (f) and name of ellipsoid as a named tuple.
select_ellipsoid(*args, **kwds)	select_ellipsoid is deprecated, use get_ellipsoid instead!
unit(vector[, norm_zero_vector])	Convert input vector to a vector of unit length.