Struct RefFrameState 

pub struct RefFrameState {
    pub trans: RefFrameTrans,
    pub rot: RefFrameRot,
}

Combined translational + rotational state of a frame relative to its parent. The untyped storage form used by crate::FrameTree.

Fields

trans: RefFrameTrans

Translational state in parent coordinates.

rot: RefFrameRot

Rotational state (parent → this).

Implementations

impl RefFrameState

pub fn negate(source: &RefFrameState) -> RefFrameState

Negate (invert) a frame state.

If source represents the state of frame B relative to frame A (A->B), the result represents the state of frame A relative to frame B (B->A).

Ported from JEOD ref_frame_state.cc negate method.

Convention:

• trans.position: position of “this” frame’s origin in parent frame coords
• trans.velocity: velocity of “this” frame’s origin in parent frame coords
• rot.t_parent_this: transforms vectors FROM parent TO this frame
• rot.ang_vel_this: angular velocity of this frame relative to parent, in this frame coords

pub fn incr_right(&self, s_bc: &RefFrameState) -> RefFrameState

Compose self (A->B) with s_bc (B->C) to produce A->C.

“Increment right”: given self = S_{A:B} and s_bc = S_{B:C}, compute and return S_{A:C}.

Ported from JEOD ref_frame_state.cc incr_right / compose_state.

pub fn incr_left(&mut self, s_ab: &RefFrameState)

Compose s_ab (A->B) with self (B->C) to produce A->C, updating self in place.

“Increment left”: given s_ab = S_{A:B} and self = S_{B:C}, update self to become S_{A:C}.

Same math as incr_right but with different roles.

Trait Implementations

impl Clone for RefFrameState

fn clone(&self) -> RefFrameState

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RefFrameState

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

Formats the value using the given formatter.

impl Default for RefFrameState

fn default() -> RefFrameState

Returns the “default value” for a type.

impl PartialEq for RefFrameState

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for RefFrameState

impl StructuralPartialEq for RefFrameState