Struct autd_geometry::geometry::Geometry

pub struct Geometry { /* fields omitted */ }

Implementations

impl Geometry

pub fn add_device(&mut self, position: Vector3, euler_angles: Vector3) -> usize

Add device to the geometry.

Use this method to specify the device geometry in order of proximity to the master. Call this method or add_device_quaternion as many times as the number of AUTDs connected to the master.

Arguments

• pos - Global position of AUTD.
• rot - ZYZ Euler angles.

Example

use std::f64::consts::PI;
use autd_geometry::{Vector3, Geometry};

let mut geometry: Geometry = Default::default();

geometry.add_device(Vector3::zeros(), Vector3::zeros());
geometry.add_device(Vector3::new(192., 0., 0.), Vector3::new(-PI, 0., 0.));

pub fn add_device_quaternion(
    &mut self,
    position: Vector3,
    rotation: UnitQuaternion
) -> usize

Add device to the geometry.

Use this method to specify the device geometry in order of proximity to the master. Call this method or add_device as many times as the number of AUTDs connected to the master.

Arguments

• pos - Global position of AUTD.
• rot - Rotation quaternion.

pub fn del_device(&mut self, device_id: usize)

pub fn num_devices(&self) -> usize

pub fn position(&self, transducer_id: usize) -> Vector3

pub fn direction(&self, transducer_id: usize) -> Vector3

Trait Implementations

impl Default for Geometry

fn default() -> Geometry

Returns the "default value" for a type.