Struct Rotation4D

pub struct Rotation4D { /* private fields */ }

Implementations

impl Rotation4D

pub fn unit() -> Rotation4D

This creates the unit rotation, which does not rotate anything.

Example:

use bb_geometry::vector4d::Vector4D;
use bb_geometry::rotation4d::Rotation4D;
let r = Rotation4D::unit();
let v = Vector4D::random_vector();

assert!(r.act_on(&v).almost_equals(&v));

pub fn from_euler_angles( psi: f64, theta: f64, phi1: f64, phi2: f64, ) -> Rotation4D

This method creates a 4d rotation using a specific parameterisation in terms of Euler angles. Since only 4 angles are used, this is not sufficient to generate every rotation in the 6d space SO(4). Still, it is enough to generate those needed for a 4d camera, which assert that a 4d head is never tilted.

Examples:

use std::f64::consts::PI;
use bb_geometry::rotation4d::Rotation4D;
use bb_geometry::vector4d::*;
let r = Rotation4D::from_euler_angles(0.0, PI/2.0, 0.0, 0.0);

assert!(&r.act_on(&E_X).almost_equals(&E_X));
assert!(&r.act_on(&E_Y).almost_equals(&E_Y));
assert!(&r.act_on(&E_Z).almost_equals(&E_T.revert()));
assert!(&r.act_on(&E_T).almost_equals(&E_Z));

pub fn inverse(&self) -> Rotation4D

pub fn transpose(&self) -> Rotation4D

pub fn act_on(&self, v: &Vector4D) -> Vector4D

pub fn generate_random_rotations(n: usize) -> Vec<Rotation4D>

Trait Implementations

impl Debug for Rotation4D

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

Formats the value using the given formatter.