CartesianTree 0.3.0

Build hierarchical Cartesian coordinate systems to easily transform poses.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69

use pyo3::prelude::*;

use crate::lazy_access::{LazyRotation, LazyTranslation};

use crate::lazy_access::rx as rust_rx;
use crate::lazy_access::ry as rust_ry;
use crate::lazy_access::rz as rust_rz;
use crate::lazy_access::x as rust_x;
use crate::lazy_access::y as rust_y;
use crate::lazy_access::z as rust_z;

#[pyclass(name = "LazyTranslation", unsendable)]
#[derive(Clone)]
pub struct PyLazyTranslation {
    pub(crate) inner: LazyTranslation,
}
#[pyclass(name = "LazyRotation", unsendable)]
#[derive(Clone)]
pub struct PyLazyRotation {
    pub(crate) inner: LazyRotation,
}

#[must_use]
#[pyfunction]
pub fn x(value: f64) -> PyLazyTranslation {
    PyLazyTranslation {
        inner: rust_x(value),
    }
}

#[must_use]
#[pyfunction]
pub fn y(value: f64) -> PyLazyTranslation {
    PyLazyTranslation {
        inner: rust_y(value),
    }
}

#[must_use]
#[pyfunction]
pub fn z(value: f64) -> PyLazyTranslation {
    PyLazyTranslation {
        inner: rust_z(value),
    }
}

#[must_use]
#[pyfunction]
pub fn rx(value: f64) -> PyLazyRotation {
    PyLazyRotation {
        inner: rust_rx(value),
    }
}

#[must_use]
#[pyfunction]
pub fn ry(value: f64) -> PyLazyRotation {
    PyLazyRotation {
        inner: rust_ry(value),
    }
}

#[must_use]
#[pyfunction]
pub fn rz(value: f64) -> PyLazyRotation {
    PyLazyRotation {
        inner: rust_rz(value),
    }
}