Struct SpatialRotation 

pub struct SpatialRotation(/* private fields */);

Spatial rotation, represented as a 3x3 rotation matrix.

Implementations

impl SpatialRotation

pub fn from_axis_angle(axis: &Vector3D, angle: f64) -> Self

Creates a new SpatialRotation from a 3D axis and an angle (for revolute joints).

pub fn to_se3(&self, translation: &Vector3D) -> SE3

Converts the rotation to an SE3 with the given translation.

pub fn identity() -> Self

Returns the identity rotation.

pub fn angle(&self) -> f64

Returns the angle of rotation in radians.

pub fn from_euler_angles(roll: f64, pitch: f64, yaw: f64) -> Self

Construct a SpatialRotation from the given Euler angles.

pub fn transpose(&self) -> Self

Returns the transpose of the rotation matrix.

Trait Implementations

impl Clone for SpatialRotation

fn clone(&self) -> SpatialRotation

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialRotation

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

Formats the value using the given formatter.

impl Mul<&Vector3D> for SpatialRotation

type Output = Vector3D

The resulting type after applying the * operator.

fn mul(self, rhs: &Vector3D) -> Self::Output

Performs the * operation.

impl PartialEq for SpatialRotation

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

Tests for self and other values to be equal, and is used by ==.

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

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for SpatialRotation

impl StructuralPartialEq for SpatialRotation