Struct SpatialForce 

pub struct SpatialForce(pub Vector6<f64>);

Spatial force vector, combining torque and force components.

A spatial force is represented as a 6-dimensional vector, which can be decomposed into $\begin{bmatrix} f & \tau \end{bmatrix}$, where $f$ is the force (translational component) and $\tau$ is the torque (rotational component).

Tuple Fields

0: Vector6<f64>

Implementations

impl SpatialForce

pub fn from_parts(force: Vector3D, torque: Vector3D) -> Self

Creates a new SpatialForce from the given force and torque components.

Arguments

• force - The force component of the spatial force.
• torque - The torque component of the spatial force.

Returns

A new SpatialForce object combining the given torque and force.

pub fn zero() -> Self

Creates a new SpatialForce with zeros components.

pub fn from_vector6(vector: Vector6<f64>) -> Self

Creates a new SpatialForce from the given nalgebra::Vector6

pub fn from_vector6d(vector: Vector6D) -> Self

Creates a new SpatialForce from the given Vector6D

pub fn rotation(&self) -> Vector3D

Returns the force’s rotation (last 3 components)

pub fn translation(&self) -> Vector3D

Returns the force’s translation (first 3 components)

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

Computes the cross product of two spatial force vectors.

Arguments

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

Returns

A new SpatialForce representing the cross product.

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

Computes the inner product of two spatial forces.

Trait Implementations

impl ActSE3 for SpatialForce

fn act(&self, transform: &SE3) -> Self

Applies the SE(3) transformation to the object.

fn act_inv(&self, _transform: &SE3) -> Self

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

impl Add<&SpatialForce> for SpatialForce

type Output = SpatialForce

The resulting type after applying the + operator.

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

Performs the + operation.

impl Add for SpatialForce

type Output = SpatialForce

The resulting type after applying the + operator.

fn add(self, rhs: Self) -> Self::Output

Performs the + operation.

impl AddAssign<&SpatialForce> for SpatialForce

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

Performs the += operation.

impl AddAssign for SpatialForce

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl Clone for SpatialForce

fn clone(&self) -> SpatialForce

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SpatialForce

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

Formats the value using the given formatter.

impl Mul<&SpatialForce> for &JacobianColumn

type Output = f64

The resulting type after applying the * operator.

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

Performs the * operation.

impl PartialEq for SpatialForce

fn eq(&self, other: &SpatialForce) -> 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 Sub<&SpatialForce> for SpatialForce

type Output = SpatialForce

The resulting type after applying the - operator.

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

Performs the - operation.

impl Sub for SpatialForce

type Output = SpatialForce

The resulting type after applying the - operator.

fn sub(self, rhs: Self) -> Self::Output

Performs the - operation.

impl SubAssign<&SpatialForce> for SpatialForce

fn sub_assign(&mut self, rhs: &Self)

Performs the -= operation.

impl SubAssign for SpatialForce

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.

impl StructuralPartialEq for SpatialForce