Struct autd::geometry::Geometry

pub struct Geometry { /* fields omitted */ }

Implementations

impl Geometry

pub fn new() -> Self

pub fn set_wavelength(&mut self, wavelength: Float)

pub fn wavelength(&self) -> Float

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

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 autd::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
)

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 num_devices(&self) -> usize

pub fn position_by_global_idx(&self, global_transducer_idx: usize) -> Vector3

pub fn position_by_local_idx(
    &self,
    device_idx: usize,
    local_trans_idx: usize
) -> Vector3

pub fn local_position(
    &self,
    device_idx: usize,
    global_position: Vector3
) -> Vector3

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

Trait Implementations

impl Default for Geometry

fn default() -> Geometry

Returns the “default value” for a type.