Struct SpatialTransform 

pub struct SpatialTransform {
    pub rot: Mat3,
    pub pos: Vec3,
}

Plücker transform: rigid body transformation acting on spatial vectors.

Represents a coordinate transform from frame A to frame B. Stored as rotation R and translation p (position of B’s origin in A’s frame).

Fields

rot: Mat3

Rotation from frame A to frame B.

pos: Vec3

Position of frame B’s origin expressed in frame A.

Implementations

impl SpatialTransform

pub fn new(rot: Mat3, pos: Vec3) -> Self

Create from rotation matrix and translation.

pub fn identity() -> Self

Identity transform.

pub fn rot_x(angle: f64) -> Self

Pure rotation about the X axis.

pub fn rot_y(angle: f64) -> Self

Pure rotation about the Y axis.

pub fn rot_z(angle: f64) -> Self

Pure rotation about the Z axis.

pub fn translation(pos: Vec3) -> Self

Pure translation.

pub fn rot_axis(axis: &Unit<Vec3>, angle: f64) -> Self

Rotation about an arbitrary axis.

pub fn to_motion_matrix(&self) -> Mat6

Get the 6x6 Plücker transform matrix for motion vectors.

X = | R 0 | | -R[p]× R |

This transforms spatial motion vectors from frame A to frame B.

pub fn to_force_matrix(&self) -> Mat6

Get the 6x6 Plücker transform matrix for force vectors.

X* = | R -R[p]× | | 0 R |

This is the transpose-inverse of the motion transform.

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

Transform a spatial motion vector from frame A to frame B.

pub fn apply_force(&self, f: &SpatialVec) -> SpatialVec

Transform a spatial force vector from frame A to frame B.

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

Inverse transform a spatial motion vector (from B to A).

pub fn inv_apply_force(&self, f: &SpatialVec) -> SpatialVec

Inverse transform a spatial force vector (from B to A).

pub fn compose(&self, other: &SpatialTransform) -> SpatialTransform

Compose two transforms: self ∘ other.

pub fn inverse(&self) -> SpatialTransform

Inverse of this transform.

pub fn translation_vector(&self) -> Vec3

Get the translation vector.

pub fn rotation_matrix(&self) -> Mat3

Get the rotation matrix.

Trait Implementations

impl Clone for SpatialTransform

fn clone(&self) -> SpatialTransform

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialTransform

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

Formats the value using the given formatter.

impl Copy for SpatialTransform