Struct Pose 

pub struct Pose { /* private fields */ }

Use Frame::add_pose to create a new pose.

Implementations

impl Pose

pub fn frame(&self) -> Option<Frame>

Returns the parent frame of this pose.

Returns

Some(Frame) if the parent frame is still valid, or None if the frame has been dropped or no longer exists.

Example

use cartesian_tree::Frame;
use nalgebra::{Vector3, UnitQuaternion};

let frame = Frame::new_origin("base");
let pose = frame.add_pose(Vector3::new(0.0, 0.0, 0.0), UnitQuaternion::identity());
assert_eq!(pose.frame().unwrap().name(), "base");

pub fn transformation(&self) -> Isometry3<f64>

Returns the transformation from this pose to its parent frame.

Returns

The transformation of the pose in its parent frame.

pub fn update<O>(&mut self, position: Vector3<f64>, orientation: O)

where O: IntoOrientation,

Updates the pose’s transformation relative to its parent.

Arguments

• position: A 3D vector representing the new translational offset from the parent.
• orientation: An orientation convertible into a unit quaternion for new orientational offset from the parent.

Example

use cartesian_tree::Frame;
use nalgebra::{Vector3, UnitQuaternion};

let root = Frame::new_origin("root");
let mut pose = root.add_pose(Vector3::new(0.0, 0.0, 1.0), UnitQuaternion::identity());
pose.update(Vector3::new(1.0, 0.0, 0.0), UnitQuaternion::identity());

pub fn in_frame(&self, target: &Frame) -> Result<Pose, CartesianTreeError>

Transforms this pose into the coordinate system of the given target frame.

Arguments

• target - The frame to express this pose in.

Returns

• Ok(Pose) a new Pose, expressed in the target frame.
• Err(String) if the frame hierarchy cannot be resolved (due to dropped frames or no common ancestor).

Example

use cartesian_tree::Frame;
use nalgebra::{Vector3, UnitQuaternion};

let root = Frame::new_origin("root");
let pose = root.add_pose(Vector3::new(0.0, 0.0, 1.0), UnitQuaternion::identity());
let new_frame = root.add_child("child", Vector3::new(1.0, 0.0, 0.0), UnitQuaternion::identity()).unwrap();
let pose_in_new_frame = pose.in_frame(&new_frame);

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Pose

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.