Struct Pose

Source

pub struct Pose { /* private fields */ }

Expand description

Use Frame::add_pose to create a new pose.

A pose shares ownership of the tree of the frame it lives in, so holding a pose keeps the tree alive. Pose is Send + Sync.

Implementations§

Source §

impl Pose

Source

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

Returns the parent frame of this pose.

§Returns

Some(Frame) if the frame still exists in the tree, or None if it has been removed.

§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");

Source

pub const 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.

Source

pub const fn position(&self) -> Vector3<f64>

Returns the position of this pose relative to its parent frame.

§Returns

The position of the pose in its parent frame.

Source

pub fn orientation(&self) -> Rotation

Returns the orientation of this pose relative to its parent frame.

§Returns

The orientation of the pose in its parent frame.

Source

pub fn set(&mut self, position: Vector3<f64>, orientation: impl Into<Rotation>)

Sets 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.set(Vector3::new(1.0, 0.0, 0.0), UnitQuaternion::identity());

Source

pub fn apply_in_parent_frame(&mut self, isometry: &Isometry3<f64>)

Applies the provided isometry interpreted in the parent frame to the pose.

§Arguments

isometry: The isometry (describing a motion in the parent frame coordinates) to apply to the current transformation.

§Example

use cartesian_tree::Frame;
use nalgebra::{Isometry3, Translation3, 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.apply_in_parent_frame(&Isometry3::from_parts(Translation3::new(1.0, 0.0, 0.0), UnitQuaternion::identity()));

Source

pub fn apply_in_local_frame(&mut self, isometry: &Isometry3<f64>)

Applies the provided isometry interpreted in the body frame to this pose.

§Arguments

isometry: The isometry (describing a motion in the body frame coordinates) to apply to the current transformation.

§Example

use cartesian_tree::Frame;
use nalgebra::{Isometry3, Translation3, 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.apply_in_local_frame(&Isometry3::from_parts(Translation3::new(1.0, 0.0, 0.0), UnitQuaternion::identity()));

Source

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

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

The computation runs under a single read lock, so it sees a consistent snapshot of the tree even while other threads are updating transforms.

§Arguments

target - The frame to express this pose in.

§Returns

A new Pose, expressed in the target frame.

§Errors

Returns a CartesianTreeError if:

The pose’s frame or the target frame has been removed from the tree.
The frames belong to different trees.
There is no common ancestor between self and target.

§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);