Struct SpatialMat 

pub struct SpatialMat {
    pub data: Mat6,
}

6x6 spatial matrix (inertia, transforms acting on spatial vectors).

Fields

data: Mat6

Implementations

impl SpatialMat

pub fn from_mat6(data: Mat6) -> Self

Create from a 6x6 nalgebra matrix.

pub fn zero() -> Self

Zero matrix.

pub fn identity() -> Self

Identity matrix.

pub fn mul_vec(&self, v: &SpatialVec) -> SpatialVec

Multiply by a spatial vector.

pub fn mul_mat(&self, other: &SpatialMat) -> SpatialMat

Matrix-matrix multiply.

pub fn transpose(&self) -> SpatialMat

Transpose.

Trait Implementations

impl Add for SpatialMat

type Output = SpatialMat

The resulting type after applying the + operator.

fn add(self, rhs: SpatialMat) -> SpatialMat

Performs the + operation.

impl Clone for SpatialMat

fn clone(&self) -> SpatialMat

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialMat

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

Formats the value using the given formatter.

impl Sub for SpatialMat

type Output = SpatialMat

The resulting type after applying the - operator.

fn sub(self, rhs: SpatialMat) -> SpatialMat

Performs the - operation.

impl Copy for SpatialMat