\section{ECEF}
Earth-Centered-Earth-Fixed coordinates belong to the easiest coordinates to compute, because they have a fixed frame and they don't have to regard the non-spherical shape of the earth. Though they are not intuitiv. \\
\begin{figure}[h!]
	\centering
	\includegraphics[width=10cm]{ECEF}
	\caption{ECEF coordinates}
	\label{ECEF coordinates}
\end{figure}

ECEF coordinates are defined using
\begin{equation}
p_{ECEF} = \begin{pmatrix} x \\ y \\ z \end{pmatrix}
\end{equation}
available for the following simple types
\begin{itemize}
\item int32\_t - \texttt{EcefCoor\_i}
\item float - \texttt{EcefCoor\_f}
\item double - \texttt{EcefCoor\_d}
\end{itemize}




\subsection{Transformations from ECEF}
\subsubsection*{to LTP}
\input{transformations/ecef2ltp}

\subsubsection*{to LLA}
\input{transformations/ecef2lla}

\subsubsection*{to NED/ENU}
\input{transformations/ecef2ned_enu}


\subsection{Transformations to ECEF}
\subsubsection*{from LLA}
\input{transformations/lla2ecef}

\subsubsection*{from NED/ENU}
\input{transformations/ned_enu2ecef}