Enum Rotation 

pub enum Rotation {
    Quaternion(UnitQuaternion<f64>),
    Rpy(Vector3<f64>),
}

Unified representation for rotations, allowing different input formats.

Variants

Quaternion(UnitQuaternion<f64>)

Quaternion representation (x, y, z, w).

Rpy(Vector3<f64>)

Roll-Pitch-Yaw (Euler angles in radians, ZYX convention).

Implementations

impl Rotation

pub fn from_quaternion(x: f64, y: f64, z: f64, w: f64) -> Self

Creates a Rotation from a quaternion (x, y, z, w).

pub const fn from_rpy(roll: f64, pitch: f64, yaw: f64) -> Self

Creates a Rotation from RPY angles in radians (roll, pitch, yaw).

pub fn identity() -> Self

Creates the identity rotation using the identity quaternion.

pub fn as_quaternion(&self) -> UnitQuaternion<f64>

Converts this rotation to a UnitQuaternion.

pub fn as_rpy(&self) -> Vector3<f64>

Converts to RPY (roll, pitch, yaw) in radians.

Trait Implementations

impl Clone for Rotation

fn clone(&self) -> Rotation

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Rotation

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

Formats the value using the given formatter.

impl From<Unit<Quaternion<f64>>> for Rotation

fn from(q: UnitQuaternion<f64>) -> Self

Converts to this type from the input type.

impl Copy for Rotation