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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

Added

Changed

Deprecated

Removed

Fixed

Security

[0.10.2] - 2026-03-03

Added

  • Add Coordinate<Ecef>::can_convert_to_wgs84 (#83)

0.9.14 - 2026-02-25

Added

Backports both changes from 0.10.1 by user request.

0.10.1 - 2026-02-25

Added

  • Add Rotation::and_then and Rotation * RigidBodyTransform composition, mirroring the existing RigidBodyTransform::and_then API (#80)
  • Allow Rotation and RigidBodyTransform to multiply velocity and acceleration vectors, not just length vectors (#79)

0.10.0 - 2026-02-17

Added

  • Support no_std environments via new std (default) and libm feature flags (#59)

Changed

  • Upgrade uom to 0.38.0 (#75)

0.9.13 - 2026-02-17

Added

  • Add Orientation::from_quaternion and Rotation::from_quaternion (#73).

0.9.12

Fixed

  • Vector accessors and constructors for types with non-zero time components (#70).
  • Compile failure on beta (#71).

0.9.11

Changed

  • Also impl Display for non-& Wgs84 (#63).

0.9.10

Changed

  • Upgraded nalgebra to 0.34 (#48).

0.9.9

Fixed

  • Fix infinite loop for certain coordinates near Earth's surface (#51).

0.9.8

Changed

  • Added documentation of temporal drift (#45).

0.9.7

Changed

  • Reduce drift in ECEF-WGS84 conversion (#42).

0.9.6

Added

  • Add Vector::orientation_at_origin (#40).

0.9.5

Changed

  • Uphold bearing azimuth guarantee for 90° elevation in ENU (#34).

0.9.4

Added

  • Argument-order-safe Tait-Bryan builder-constructor for Orientation and Rotation (#28).
  • Safe macros for constructing [Bearing] and [Wgs84] with compile-time constants (#27).

Changed

  • Documented lack of normalization in elevation and latitude (#26).

Deprecated

  • Orientation::from_tait_bryan_angles and Rotation::from_tait_bryan_angles in favour of new argument-order-safe builder constructors.

0.9.3

Added

  • Implement Default for Bearing (#17).
  • Ability to turn a Wgs84 or Bearing back into a builder (#16, (#22).

Changed

  • Panic when ECEF->WGS84 conversion would produce incorrect results due to being outside the supported range of the underlying algorithm. Note that previously, this wouldn't panic, but you would instead get simply incorrect conversion results (#24).

Fixed

  • Fixed edge case where 2π could be returned instead of 0 for very small negative angles (#23).

0.9.2

Added

  • Support for the ENU coordinate system (#13).

Changed

  • Clarified deprecation notice for from_cartesian to note that it will not be removed (#14).

0.9.1

Added

  • Several constructors for Bearing, Wgs84, Coordinate, and Vector that mitigate the foot-gun that is argument order confusion. See #8 for more details.

Deprecated

  • Bearing::new, Wgs84::new, Coordinate::from_cartesian, and Vector::from_cartesian have been deprecated in favour of the newly added constructors.

Removed

0.9.0

Initial public release.