Struct SpatialVec 

pub struct SpatialVec {
    pub data: Vec6,
}

6D spatial vector — either a motion vector (twist) or force vector (wrench).

Fields

data: Vec6

The underlying 6D vector [angular(3); linear(3)].

Implementations

impl SpatialVec

pub fn new(angular: Vec3, linear: Vec3) -> Self

Create from angular and linear parts.

pub fn zero() -> Self

Zero spatial vector.

pub fn angular(&self) -> Vec3

Angular (top 3) component.

pub fn linear(&self) -> Vec3

Linear (bottom 3) component.

pub fn cross_motion(&self, other: &SpatialVec) -> SpatialVec

Spatial cross product for motion vectors: v ×ₘ w Used in velocity propagation.

pub fn cross_force(&self, other: &SpatialVec) -> SpatialVec

Spatial cross product for force vectors: v ×f f Used in bias force computation.

pub fn dot(&self, other: &SpatialVec) -> f64

Dot product of two spatial vectors.

pub fn from_linear_angular(linear: Vec3, angular: Vec3) -> Self

Create from linear and angular parts (convenient alternative order).

Trait Implementations

impl Add for SpatialVec

type Output = SpatialVec

The resulting type after applying the + operator.

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

Performs the + operation.

impl Clone for SpatialVec

fn clone(&self) -> SpatialVec

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialVec

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

Formats the value using the given formatter.

impl Mul<f64> for SpatialVec

type Output = SpatialVec

The resulting type after applying the * operator.

fn mul(self, rhs: f64) -> SpatialVec

Performs the * operation.

impl Neg for SpatialVec

type Output = SpatialVec

The resulting type after applying the - operator.

fn neg(self) -> SpatialVec

Performs the unary - operation.

impl Sub for SpatialVec

type Output = SpatialVec

The resulting type after applying the - operator.

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

Performs the - operation.

impl Copy for SpatialVec