Struct bcar::Pose

pub struct Pose {
    pub x: f64,
    pub y: f64,
    pub h: f64,
}

Basic pose geometry.

Examples

let pose = bcar::Pose::new(1.0, 2.0, 3.0);
assert_eq!(1.0, pose.x);
assert_eq!(2.0, pose.y);
assert_eq!(3.0, pose.h);

Fields

x: f64

y: f64

h: f64

Implementations

impl Pose

pub fn new(x: f64, y: f64, h: f64) -> Pose

pub fn default() -> Pose

Return default pose.

Examples

let pose = bcar::Pose::default();
assert_eq!(pose, bcar::Pose::new(0.0, 0.0, 0.0));

pub fn point(&self) -> Point

Return Point from pose.

pub fn rotate(&mut self, p: Point, a: f64)

Rotate self around p by a.

Arguments

• p -- Point to rotate self around.
• a -- Angle to rotate self by.

Examples

let mut pose = bcar::Pose::new(0.0, 0.0, 0.0);
pose.rotate(bcar::Point::new(-1.0, 0.0), std::f64::consts::PI);
assert!(pose.x - -2.0 < 0.00001);
assert!(pose.y - 0.0 < 0.00001);
assert!(pose.h - std::f64::consts::PI < 0.00001);

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Copy for Pose

impl Debug for Pose

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

Formats the value using the given formatter.

impl PartialEq<Pose> for Pose

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

This method tests for self and other values to be equal, and is used by ==.

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

This method tests for !=.

impl StructuralPartialEq for Pose