72 // helper function for calculating elevation angle
75 fn elevation(delta: Vec3) -> f32 {  in elevation()  function
84 /// would enable to compute range, azimuth, and elevation.
108 /// UWB Ranging Model for computing range, azimuth, and elevation
116     let elevation = elevation(direction).to_degrees().round();  in compute_range_azimuth_elevation()  localVariable
121     if !(-90. ..=90.).contains(&elevation) {  in compute_range_azimuth_elevation()
122         return Err(anyhow::anyhow!("elevation is not between -90 and 90. value: {elevation}"));  in compute_range_azimuth_elevation()
124     Ok((distance, azimuth as i16, elevation as i8))  in compute_range_azimuth_elevation()
189             let (_, azimuth, elevation) =  in azimuth_without_rotation()
192             assert_eq!(elevation, 0);  in azimuth_without_rotation()
196             let (_, azimuth, elevation) =  in azimuth_without_rotation()
199             assert_eq!(elevation, 0);  in azimuth_without_rotation()
203             let (_, azimuth, elevation) =  in azimuth_without_rotation()
206             assert_eq!(elevation, 0);  in azimuth_without_rotation()
210             let (_, azimuth, elevation) =  in azimuth_without_rotation()
213             assert_eq!(elevation, 0);  in azimuth_without_rotation()
222             let (_, azimuth, elevation) =  in elevation_without_rotation()
225             assert_eq!(elevation, 45);  in elevation_without_rotation()
229             let (_, azimuth, elevation) =  in elevation_without_rotation()
232             assert_eq!(elevation, -45);  in elevation_without_rotation()
236             let (_, azimuth, elevation) =  in elevation_without_rotation()
239             assert_eq!(elevation, 45);  in elevation_without_rotation()
243             let (_, azimuth, elevation) =  in elevation_without_rotation()
246             assert_eq!(elevation, -45);  in elevation_without_rotation()
255             let (_, azimuth, elevation) =  in rotation_only()
258             assert_eq!(elevation, 0);  in rotation_only()
262             let (_, azimuth, elevation) =  in rotation_only()
265             assert_eq!(elevation, 0);  in rotation_only()
269             let (_, azimuth, elevation) =  in rotation_only()
272             assert_eq!(elevation, -45);  in rotation_only()
276             let (_, azimuth, elevation) =  in rotation_only()
279             assert_eq!(elevation, 0);  in rotation_only()
288             let (_, azimuth, elevation) =  in rotation_only_complex_position()
291             assert_eq!(elevation, 35);  in rotation_only_complex_position()
295             let (_, azimuth, elevation) =  in rotation_only_complex_position()
298             assert_eq!(elevation, 35);  in rotation_only_complex_position()
302             let (_, azimuth, elevation) =  in rotation_only_complex_position()
305             assert_eq!(elevation, -35);  in rotation_only_complex_position()
309             let (_, azimuth, elevation) =  in rotation_only_complex_position()
312             assert_eq!(elevation, 35);  in rotation_only_complex_position()
316             let (_, azimuth, elevation) =  in rotation_only_complex_position()
319             assert_eq!(elevation, 0);  in rotation_only_complex_position()