Struct Sim3Tangent 

pub struct Sim3Tangent { /* private fields */ }

Sim(3) tangent space element.

Represented as [ρ(3), θ(3), σ(1)] where:

• ρ: translational component
• θ: rotational component (axis-angle)
• σ: logarithmic scale

Implementations

impl Sim3Tangent

pub fn new( rho: Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, theta: Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>, sigma: f64, ) -> Sim3Tangent

Create a new Sim(3)Tangent from components.

pub fn rho(&self) -> Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>

Get the ρ (translational) part.

pub fn theta(&self) -> Matrix<f64, Const<3>, Const<1>, ArrayStorage<f64, 3, 1>>

Get the θ (rotational) part.

pub fn sigma(&self) -> f64

Get the σ (logarithmic scale) part.

pub fn from_components( rho_x: f64, rho_y: f64, rho_z: f64, theta_x: f64, theta_y: f64, theta_z: f64, sigma: f64, ) -> Sim3Tangent

Create Sim3Tangent from individual scalar components.

Trait Implementations

impl Clone for Sim3Tangent

fn clone(&self) -> Sim3Tangent

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Display for Sim3Tangent

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

Formats the value using the given formatter.

impl PartialEq for Sim3Tangent

fn eq(&self, other: &Sim3Tangent) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for Sim3Tangent

impl Tangent<Sim3> for Sim3Tangent

fn exp(&self, jacobian: Option<&mut <Sim3 as LieGroup>::JacobianMatrix>) -> Sim3

Exponential map to Sim(3).

fn right_jacobian(&self) -> <Sim3 as LieGroup>::JacobianMatrix

Right Jacobian for Sim(3).

fn left_jacobian(&self) -> <Sim3 as LieGroup>::JacobianMatrix

Left Jacobian for Sim(3).

fn right_jacobian_inv(&self) -> <Sim3 as LieGroup>::JacobianMatrix

Inverse of right Jacobian.

fn left_jacobian_inv(&self) -> <Sim3 as LieGroup>::JacobianMatrix

Inverse of left Jacobian.

fn hat(&self) -> <Sim3 as LieGroup>::LieAlgebra

Hat operator: maps tangent vector to Lie algebra matrix (4x4).

const DIM: usize = 7

Dimension of the tangent space.

fn zero() -> <Sim3 as LieGroup>::TangentVector

Zero tangent vector.

fn random() -> <Sim3 as LieGroup>::TangentVector

Random tangent vector (useful for testing).

fn is_zero(&self, tolerance: f64) -> bool

Check if the tangent vector is approximately zero.

fn normalize(&mut self)

Normalize the tangent vector to unit norm.

fn normalized(&self) -> <Sim3 as LieGroup>::TangentVector

Return a unit tangent vector in the same direction.

fn as_slice(&self) -> &[f64]

Borrows the raw tangent data as a flat slice. Zero allocation.

fn from_slice(s: &[f64]) -> Sim3Tangent

Constructs from a raw slice (same layout as as_slice).

fn small_adj(&self) -> <Sim3 as LieGroup>::JacobianMatrix

Small adjugate operator: adj(φ) = φ^∧.

fn lie_bracket(&self, other: &Sim3Tangent) -> <Sim3 as LieGroup>::TangentVector

Lie bracket: [φ, ψ] = φ ∘ ψ - ψ ∘ φ.

fn is_approx(&self, other: &Sim3Tangent, tolerance: f64) -> bool

Check if the tangent vector is approximately equal to another tangent vector.

fn generator(&self, i: usize) -> <Sim3 as LieGroup>::LieAlgebra

Get the i-th generator of the Lie algebra.

fn is_dynamic() -> bool

Whether this tangent type has dynamic (runtime-determined) dimension.