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							<!DOCTYPE html>
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    <title>Transforms - Cesium Documentation</title>

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<div id="main">

    <h1 class="page-title">
        <a href="index.html"><img src="images/CesiumLogo.png" class="cesiumLogo"></a>
        Transforms
        <div class="titleCenterer"></div>
    </h1>

    
<section>

<header>
    
</header>

<article>
    <div class="container-overview">
    

<dt>
    <div class="nameContainer">
    <h4 class="name" id="Transforms">
        <a href="#Transforms" class="doc-link"></a>
        Transforms<span class="signature">()</span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L53">Core/Transforms.js 53</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Contains functions for transforming positions to various reference frames.
    </div>
    

<dl class="details">
    

</dl>

</dd>

    
    </div>

    
        <h3 class="subsection-title">Methods</h3>

        <dl>
            
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".computeFixedToIcrfMatrix">
        <a href="#.computeFixedToIcrfMatrix" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.computeFixedToIcrfMatrix<span class="signature">(date, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix3.html">Matrix3</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L753">Core/Transforms.js 753</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a rotation matrix to transform a point or vector from the Earth-Fixed frame axes (ITRF)
to the International Celestial Reference Frame (GCRF/ICRF) inertial frame axes
at a given time.  This function may return undefined if the data necessary to
do the transformation is not yet loaded.
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>date</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="JulianDate.html">JulianDate</a></span>


            </td>

            
            <td class="description last">
            
                
                The time at which to compute the rotation matrix.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix3.html">Matrix3</a></span>


            </td>

            
            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.  If this parameter is
                 not specified, a new instance is created and returned.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The rotation matrix, or undefined if the data necessary to do the
                  transformation is not yet loaded.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">// Transform a point from the ICRF axes to the Fixed axes.
var now = Cesium.JulianDate.now();
var pointInFixed = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
var fixedToIcrf = Cesium.Transforms.computeIcrfToFixedMatrix(now);
var pointInInertial = new Cesium.Cartesian3();
if (Cesium.defined(fixedToIcrf)) {
    pointInInertial = Cesium.Matrix3.multiplyByVector(fixedToIcrf, pointInFixed, pointInInertial);
}</code></pre>

    
    <h5>See:</h5>
    <ul class="see-list">
        <li><a href="Transforms.html#.preloadIcrfFixed">Transforms.preloadIcrfFixed</a></li>
    </ul>
    

</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".computeIcrfToFixedMatrix">
        <a href="#.computeIcrfToFixedMatrix" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.computeIcrfToFixedMatrix<span class="signature">(date, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix3.html">Matrix3</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L705">Core/Transforms.js 705</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a rotation matrix to transform a point or vector from the International Celestial
Reference Frame (GCRF/ICRF) inertial frame axes to the Earth-Fixed frame axes (ITRF)
at a given time.  This function may return undefined if the data necessary to
do the transformation is not yet loaded.
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>date</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="JulianDate.html">JulianDate</a></span>


            </td>

            
            <td class="description last">
            
                
                The time at which to compute the rotation matrix.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix3.html">Matrix3</a></span>


            </td>

            
            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.  If this parameter is
                 not specified, a new instance is created and returned.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The rotation matrix, or undefined if the data necessary to do the
                  transformation is not yet loaded.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">scene.preRender.addEventListener(function(scene, time) {
  var icrfToFixed = Cesium.Transforms.computeIcrfToFixedMatrix(time);
  if (Cesium.defined(icrfToFixed)) {
    var offset = Cesium.Matrix4.multiplyByPoint(camera.transform, camera.position, new Cesium.Cartesian3());
    var transform = Cesium.Matrix4.fromRotationTranslation(icrfToFixed)
    var inverseTransform = Cesium.Matrix4.inverseTransformation(transform, new Cesium.Matrix4());
    Cesium.Matrix4.multiplyByPoint(inverseTransform, offset, offset);
    camera.lookAtTransform(transform, offset);
  }
});</code></pre>

    
    <h5>See:</h5>
    <ul class="see-list">
        <li><a href="Transforms.html#.preloadIcrfFixed">Transforms.preloadIcrfFixed</a></li>
    </ul>
    

</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".computeTemeToPseudoFixedMatrix">
        <a href="#.computeTemeToPseudoFixedMatrix" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.computeTemeToPseudoFixedMatrix<span class="signature">(date, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix3.html">Matrix3</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L569">Core/Transforms.js 569</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a rotation matrix to transform a point or vector from True Equator Mean Equinox (TEME) axes to the
pseudo-fixed axes at a given time.  This method treats the UT1 time standard as equivalent to UTC.
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>date</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="JulianDate.html">JulianDate</a></span>


            </td>

            
            <td class="description last">
            
                
                The time at which to compute the rotation matrix.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix3.html">Matrix3</a></span>


            </td>

            
            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Matrix3 instance if none was provided.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">//Set the view to in the inertial frame.
scene.preRender.addEventListener(function(scene, time) {
   var now = Cesium.JulianDate.now();
   var offset = Cesium.Matrix4.multiplyByPoint(camera.transform, camera.position, new Cesium.Cartesian3());
   var transform = Cesium.Matrix4.fromRotationTranslation(Cesium.Transforms.computeTemeToPseudoFixedMatrix(now));
   var inverseTransform = Cesium.Matrix4.inverseTransformation(transform, new Cesium.Matrix4());
   Cesium.Matrix4.multiplyByPoint(inverseTransform, offset, offset);
   camera.lookAtTransform(transform, offset);
});</code></pre>

    
</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".eastNorthUpToFixedFrame">
        <a href="#.eastNorthUpToFixedFrame" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.eastNorthUpToFixedFrame<span class="signature">(origin, <span class="optional">ellipsoid</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix4.html">Matrix4</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L79">Core/Transforms.js 79</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a 4x4 transformation matrix from a reference frame with an east-north-up axes
centered at the provided origin to the provided ellipsoid's fixed reference frame.
The local axes are defined as:
<ul>
<li>The <code>x</code> axis points in the local east direction.</li>
<li>The <code>y</code> axis points in the local north direction.</li>
<li>The <code>z</code> axis points in the direction of the ellipsoid surface normal which passes through the position.</li>
</ul>
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th>Default</th>
        

        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>origin</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The center point of the local reference frame.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>ellipsoid</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Ellipsoid.html">Ellipsoid</a></span>


            </td>

            
                <td class="default">
                
                    <code class="language-javascript">Ellipsoid.WGS84</code>
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The ellipsoid whose fixed frame is used in the transformation.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix4.html">Matrix4</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Matrix4 instance if none was provided.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">// Get the transform from local east-north-up at cartographic (0.0, 0.0) to Earth's fixed frame.
var center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
var transform = Cesium.Transforms.eastNorthUpToFixedFrame(center);</code></pre>

    
</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".headingPitchRollQuaternion">
        <a href="#.headingPitchRollQuaternion" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.headingPitchRollQuaternion<span class="signature">(origin, headingPitchRoll, <span class="optional">ellipsoid</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Quaternion.html">Quaternion</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L521">Core/Transforms.js 521</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a quaternion from a reference frame with axes computed from the heading-pitch-roll angles
centered at the provided origin. Heading is the rotation from the local north
direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles
are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th>Default</th>
        

        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>origin</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The center point of the local reference frame.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>headingPitchRoll</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="HeadingPitchRoll.html">HeadingPitchRoll</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The heading, pitch, and roll.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>ellipsoid</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Ellipsoid.html">Ellipsoid</a></span>


            </td>

            
                <td class="default">
                
                    <code class="language-javascript">Ellipsoid.WGS84</code>
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The ellipsoid whose fixed frame is used in the transformation.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Quaternion.html">Quaternion</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Quaternion instance if none was provided.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">// Get the quaternion from local heading-pitch-roll at cartographic (0.0, 0.0) to Earth's fixed frame.
var center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
var heading = -Cesium.Math.PI_OVER_TWO;
var pitch = Cesium.Math.PI_OVER_FOUR;
var roll = 0.0;
var hpr = new HeadingPitchRoll(heading, pitch, roll);
var quaternion = Cesium.Transforms.headingPitchRollQuaternion(center, hpr);</code></pre>

    
</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".headingPitchRollToFixedFrame">
        <a href="#.headingPitchRollToFixedFrame" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.headingPitchRollToFixedFrame<span class="signature">(origin, headingPitchRoll, <span class="optional">ellipsoid</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix4.html">Matrix4</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L476">Core/Transforms.js 476</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a 4x4 transformation matrix from a reference frame with axes computed from the heading-pitch-roll angles
centered at the provided origin to the provided ellipsoid's fixed reference frame. Heading is the rotation from the local north
direction where a positive angle is increasing eastward. Pitch is the rotation from the local east-north plane. Positive pitch angles
are above the plane. Negative pitch angles are below the plane. Roll is the first rotation applied about the local east axis.
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th>Default</th>
        

        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>origin</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The center point of the local reference frame.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>headingPitchRoll</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="HeadingPitchRoll.html">HeadingPitchRoll</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The heading, pitch, and roll.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>ellipsoid</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Ellipsoid.html">Ellipsoid</a></span>


            </td>

            
                <td class="default">
                
                    <code class="language-javascript">Ellipsoid.WGS84</code>
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The ellipsoid whose fixed frame is used in the transformation.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix4.html">Matrix4</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Matrix4 instance if none was provided.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">// Get the transform from local heading-pitch-roll at cartographic (0.0, 0.0) to Earth's fixed frame.
var center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
var heading = -Cesium.Math.PI_OVER_TWO;
var pitch = Cesium.Math.PI_OVER_FOUR;
var roll = 0.0;
var hpr = new Cesium.HeadingPitchRoll(heading, pitch, roll);
var transform = Cesium.Transforms.headingPitchRollToFixedFrame(center, hpr);</code></pre>

    
</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".northEastDownToFixedFrame">
        <a href="#.northEastDownToFixedFrame" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.northEastDownToFixedFrame<span class="signature">(origin, <span class="optional">ellipsoid</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix4.html">Matrix4</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L180">Core/Transforms.js 180</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a 4x4 transformation matrix from a reference frame with an north-east-down axes
centered at the provided origin to the provided ellipsoid's fixed reference frame.
The local axes are defined as:
<ul>
<li>The <code>x</code> axis points in the local north direction.</li>
<li>The <code>y</code> axis points in the local east direction.</li>
<li>The <code>z</code> axis points in the opposite direction of the ellipsoid surface normal which passes through the position.</li>
</ul>
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th>Default</th>
        

        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>origin</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The center point of the local reference frame.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>ellipsoid</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Ellipsoid.html">Ellipsoid</a></span>


            </td>

            
                <td class="default">
                
                    <code class="language-javascript">Ellipsoid.WGS84</code>
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The ellipsoid whose fixed frame is used in the transformation.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix4.html">Matrix4</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Matrix4 instance if none was provided.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">// Get the transform from local north-east-down at cartographic (0.0, 0.0) to Earth's fixed frame.
var center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
var transform = Cesium.Transforms.northEastDownToFixedFrame(center);</code></pre>

    
</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".northUpEastToFixedFrame">
        <a href="#.northUpEastToFixedFrame" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.northUpEastToFixedFrame<span class="signature">(origin, <span class="optional">ellipsoid</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix4.html">Matrix4</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L277">Core/Transforms.js 277</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a 4x4 transformation matrix from a reference frame with an north-up-east axes
centered at the provided origin to the provided ellipsoid's fixed reference frame.
The local axes are defined as:
<ul>
<li>The <code>x</code> axis points in the local north direction.</li>
<li>The <code>y</code> axis points in the direction of the ellipsoid surface normal which passes through the position.</li>
<li>The <code>z</code> axis points in the local east direction.</li>
</ul>
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th>Default</th>
        

        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>origin</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The center point of the local reference frame.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>ellipsoid</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Ellipsoid.html">Ellipsoid</a></span>


            </td>

            
                <td class="default">
                
                    <code class="language-javascript">Ellipsoid.WGS84</code>
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The ellipsoid whose fixed frame is used in the transformation.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix4.html">Matrix4</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Matrix4 instance if none was provided.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">// Get the transform from local north-up-east at cartographic (0.0, 0.0) to Earth's fixed frame.
var center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
var transform = Cesium.Transforms.northUpEastToFixedFrame(center);</code></pre>

    
</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".northWestUpToFixedFrame">
        <a href="#.northWestUpToFixedFrame" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.northWestUpToFixedFrame<span class="signature">(origin, <span class="optional">ellipsoid</span>, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Matrix4.html">Matrix4</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L374">Core/Transforms.js 374</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Computes a 4x4 transformation matrix from a reference frame with an north-west-up axes
centered at the provided origin to the provided ellipsoid's fixed reference frame.
The local axes are defined as:
<ul>
<li>The <code>x</code> axis points in the local north direction.</li>
<li>The <code>y</code> axis points in the local west direction.</li>
<li>The <code>z</code> axis points in the direction of the ellipsoid surface normal which passes through the position.</li>
</ul>
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th>Default</th>
        

        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>origin</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                The center point of the local reference frame.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>ellipsoid</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Ellipsoid.html">Ellipsoid</a></span>


            </td>

            
                <td class="default">
                
                    <code class="language-javascript">Ellipsoid.WGS84</code>
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The ellipsoid whose fixed frame is used in the transformation.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix4.html">Matrix4</a></span>


            </td>

            
                <td class="default">
                
                </td>
            

            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Matrix4 instance if none was provided.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">// Get the transform from local north-West-Up at cartographic (0.0, 0.0) to Earth's fixed frame.
var center = Cesium.Cartesian3.fromDegrees(0.0, 0.0);
var transform = Cesium.Transforms.northWestUpToFixedFrame(center);</code></pre>

    
</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".pointToWindowCoordinates">
        <a href="#.pointToWindowCoordinates" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.pointToWindowCoordinates<span class="signature">(modelViewProjectionMatrix, viewportTransformation, point, <span class="optional">result</span>)</span> &rarr; <span class="type-signature returnType"><a href="Cartesian2.html">Cartesian2</a></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L868">Core/Transforms.js 868</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Transform a point from model coordinates to window coordinates.
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>modelViewProjectionMatrix</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix4.html">Matrix4</a></span>


            </td>

            
            <td class="description last">
            
                
                The 4x4 model-view-projection matrix.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>viewportTransformation</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Matrix4.html">Matrix4</a></span>


            </td>

            
            <td class="description last">
            
                
                The 4x4 viewport transformation.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>point</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian3.html">Cartesian3</a></span>


            </td>

            
            <td class="description last">
            
                
                The point to transform.</td>
        </tr>

    
        <tr>
            
                <td class="name"><code>result</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="Cartesian2.html">Cartesian2</a></span>


            </td>

            
            <td class="description last">
            
                
                        <span class="optional">optional</span>
                
                
                The object onto which to store the result.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    The modified result parameter or a new Cartesian2 instance if none was provided.
</div>


<dl class="details">
    

</dl>

</dd>

        
<dt>
    <div class="nameContainer">
    <h4 class="name" id=".preloadIcrfFixed">
        <a href="#.preloadIcrfFixed" class="doc-link"></a>
        <span class="type-signature attribute-static">static</span>Cesium.Transforms.preloadIcrfFixed<span class="signature">(timeInterval)</span> &rarr; <span class="type-signature returnType">Promise.&lt;undefined></span>
        

<div class="source-link rightLinks">
    <a href="https://github.com/AnalyticalGraphicsInc/cesium/blob/1.29/Source/Core/Transforms.js#L666">Core/Transforms.js 666</a>
</div>


    </h4>

    </div>

    
</dt>
<dd>

    
    <div class="description">
        Preloads the data necessary to transform between the ICRF and Fixed axes, in either
direction, over a given interval.  This function returns a promise that, when resolved,
indicates that the preload has completed.
    </div>
    

<table class="params">
    <thead>
    <tr>
        
        <th>Name</th>
        

        <th>Type</th>

        
        <th class="last">Description</th>
    </tr>
    </thead>

    <tbody>
    

        <tr>
            
                <td class="name"><code>timeInterval</code></td>
            

            <td class="type">
            
                
<span class="param-type"><a href="TimeInterval.html">TimeInterval</a></span>


            </td>

            
            <td class="description last">
            
                The interval to preload.</td>
        </tr>

    
    </tbody>
</table>
    

    <h5>Returns:</h5>
    
            
<div class="param-desc">
    A promise that, when resolved, indicates that the preload has completed
         and evaluation of the transformation between the fixed and ICRF axes will
         no longer return undefined for a time inside the interval.
</div>


<dl class="details">
    

        <h5>Example:</h5>
        
    <pre><code class="language-javascript">var interval = new Cesium.TimeInterval(...);
when(Cesium.Transforms.preloadIcrfFixed(interval), function() {
    // the data is now loaded
});</code></pre>

    
    <h5>See:</h5>
    <ul class="see-list">
        <li><a href="Transforms.html#.computeIcrfToFixedMatrix">Transforms.computeIcrfToFixedMatrix</a></li>
    
        <li><a href="Transforms.html#.computeFixedToIcrfMatrix">Transforms.computeFixedToIcrfMatrix</a></li>
    
        <li>when</li>
    </ul>
    

</dl>

</dd>

        </dl>
    

</article>

</section>


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