Struct SpatialMotion 

pub struct SpatialMotion(pub Matrix<f64, Const<6>, Const<1>, ArrayStorage<f64, 6, 1>>);

Spatial motion vector, combining linear and angular velocity components.

The first three elements represent linear velocity, and the last three represent angular velocity.

Tuple Fields

0: Matrix<f64, Const<6>, Const<1>, ArrayStorage<f64, 6, 1>>

Implementations

impl SpatialMotion

pub fn from_rotational_axis(axis: &Vector3D) -> SpatialMotion

Creates a new SpatialMotion from a 3D rotational axis (for revolute and continuous joints).

pub fn from_translational_axis(axis: &Vector3D) -> SpatialMotion

Creates a new SpatialMotion from a 3D translational axis (for prismatic joints).

pub fn rotation(&self) -> Vector3D

Extracts the rotation (angular velocity) component of the spatial motion.

pub fn translation(&self) -> Vector3D

Extracts the translation (linear velocity) component of the spatial motion.

pub fn zero() -> SpatialMotion

Zero spatial motion (no motion).

pub fn from_parts(linear: Vector3D, angular: Vector3D) -> SpatialMotion

Creates a SpatialMotion from linear and angular components.

Arguments

• linear - The linear velocity component (3D vector).
• angular - The angular velocity component (3D vector).

pub fn from_vector6d(v: Vector6D) -> SpatialMotion

Creates a SpatialMotion from a 6D vector.

Arguments

• v - The 6D vector representing spatial motion; the first three elements are linear, the last three are angular.

pub fn cross(&self, other: &SpatialMotion) -> SpatialMotion

Computes the cross product of two spatial motion vectors.

Arguments

• other - The other spatial motion vector to compute the cross product with.

Returns

A new SpatialMotion representing the cross product.

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

Computes the cross product of two spatial motion vectors.

Arguments

• other - The other spatial motion vector to compute the cross product with.

Returns

A new SpatialMotion representing the cross product.

pub fn cross_star(&self, other: &SpatialMotion) -> SpatialMotion

Computes the dual cross product of two spatial motion vectors.

Arguments

• other - The other spatial motion vector to compute the dual cross product with.

Returns

A new SpatialMotion representing the dual cross product.

pub fn inner(&self, other: &SpatialMotion) -> f64

Computes the inner product of two spatial motion vectors.

pub fn as_slice(&self) -> &[f64; 6]

Returns the spatial motion as a slice of 6 elements (linear followed by angular).

Trait Implementations

impl ActSE3 for SpatialMotion

fn act(&self, se3: &SE3) -> SpatialMotion

Applies the SE(3) transformation to the object.

fn act_inv(&self, se3: &SE3) -> SpatialMotion

Applies the inverse SE(3) transformation to the object.

impl Add<&SpatialMotion> for SpatialMotion

type Output = SpatialMotion

The resulting type after applying the + operator.

fn add( self, rhs: &SpatialMotion, ) -> <SpatialMotion as Add<&SpatialMotion>>::Output

Performs the + operation.

impl Add<SpatialMotion> for &SpatialMotion

type Output = SpatialMotion

The resulting type after applying the + operator.

fn add( self, rhs: SpatialMotion, ) -> <&SpatialMotion as Add<SpatialMotion>>::Output

Performs the + operation.

impl Add for SpatialMotion

type Output = SpatialMotion

The resulting type after applying the + operator.

fn add(self, rhs: SpatialMotion) -> <SpatialMotion as Add>::Output

Performs the + operation.

impl AddAssign<&SpatialMotion> for SpatialMotion

fn add_assign(&mut self, rhs: &SpatialMotion)

Performs the += operation.

impl AddAssign for SpatialMotion

fn add_assign(&mut self, rhs: SpatialMotion)

Performs the += operation.

impl Clone for SpatialMotion

fn clone(&self) -> SpatialMotion

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialMotion

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

Formats the value using the given formatter.

impl Default for SpatialMotion

fn default() -> SpatialMotion

Returns the “default value” for a type.

impl Display for SpatialMotion

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

Formats the value using the given formatter.

impl Mul<f64> for &SpatialMotion

type Output = SpatialMotion

The resulting type after applying the * operator.

fn mul(self, rhs: f64) -> <&SpatialMotion as Mul<f64>>::Output

Performs the * operation.

impl Mul<f64> for SpatialMotion

type Output = SpatialMotion

The resulting type after applying the * operator.

fn mul(self, rhs: f64) -> <SpatialMotion as Mul<f64>>::Output

Performs the * operation.

impl PartialEq for SpatialMotion

fn eq(&self, other: &SpatialMotion) -> 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 StructuralPartialEq for SpatialMotion