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@@ -3,6 +3,24 @@ An ENU tangential plane ROS Transformations package that allows for navigation s
 
 This package is a geodetic conversion package created for the AUVSI SUAS navigation stack.
 It runs various conversions between GPS, ECEF, NED and ENU co ordinate frames.
-This linearises the co-ordinate frame of any arbitrary map or data structure used by a planner while maintaining the appropriate references to geodetic curvature with a return to the first-order model of the earth as being flat, where they serve as  local  reference  directions  for  representing  vehicle  attitude  and  velocity  for operation  on  or  near  the  surface  of  the  earth
-For AUVSI purposes the frame used is ENU, a local tangent plane(LTP) system.
+
+This linearises the co-ordinate frame of any arbitrary map or data structure used by a planner while maintaining the appropriate references to geodetic curvature with a return to the first-order model of the earth as being flat. This Local Tangent Plane(LTP) serves as a local reference  direction for representing vehicle attitude and velocity for operation on or near the surface of the earth.
+
 To change the different geodetic systems, functions in include/transforms/geodetic_conv.h can be used.
+
+## Inverse Haversine functionality: 
+
+This package includes an implementation of an Inverse haversine function that provides a GPS/ENU endpoint(as an Eigen Vector2d) given a GPS/ENU start point and a bearing angle clockwise from north.
+
+```cpp
+Eigen::Vector2d ENUtransforms::inverseHaversine(Eigen::Vector2d gps, double bearing, double dist_ft)
+```
+## Results:
+
+| ENU Frame local GridMap | GPS Points generated by Path Planner| 
+| :---        |    :----:   |
+| ![alt text](imgs/potential-grid.png)| ![alt text](imgs/gps.png)
+
+## 99% GPS<->ENU<->GridMap reconversion accuracy (in feet)
+![](imgs/reconversion.png)
+
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