Struct Symmetric3 

pub struct Symmetric3 { /* private fields */ }

A symmetric 3x3 matrix.

The matrix is stored in a compact form, only keeping the unique elements.

Implementations

impl Symmetric3

pub fn new(m11: f64, m22: f64, m33: f64, m12: f64, m13: f64, m23: f64) -> Self

Creates a new Symmetric3 matrix from the given elements.

Arguments

• m11, m22, m33 - The diagonal elements.
• m12, m13, m23 - The off-diagonal elements.

pub fn get(&self, row: usize, col: usize) -> &f64

Returns the element at the specified row and column.

Arguments

• row - The row index (0-based).
• col - The column index (0-based).

Panics

Panics if the row or column index is out of bounds.

pub fn zeros() -> Self

Returns the zero symmetric matrix.

pub fn identity() -> Self

Returns the identity symmetric matrix.

pub fn from_diagonal(diag: &[f64; 3]) -> Self

Creates a diagonal symmetric matrix from the given diagonal elements.

Arguments

• diag - A vector containing the diagonal elements [m11, m22, m33].

pub fn matrix(&self) -> Matrix3<f64>

Convert the symmetric matrix to a full 3x3 matrix.

pub fn skew_square(v: &Vector3D) -> Symmetric3

Constructs the skew symmetric matrix associated to the given 3D vector.

pub fn rotate(&self, rotation: &SpatialRotation) -> Symmetric3

Computes the matrix product $RSR^\top$ where $R$ is a spatial rotation and $S$ is this symmetric matrix.

Arguments

• rotation - The spatial rotation to apply.

Returns

The rotated symmetric matrix.

Trait Implementations

impl Add for Symmetric3

type Output = Symmetric3

The resulting type after applying the + operator.

fn add(self, rhs: Symmetric3) -> Self::Output

Performs the + operation.

impl Clone for Symmetric3

fn clone(&self) -> Symmetric3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Symmetric3

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

Formats the value using the given formatter.

impl Default for Symmetric3

fn default() -> Symmetric3

Returns the “default value” for a type.

impl Index<(usize, usize)> for Symmetric3

type Output = f64

The returned type after indexing.

fn index(&self, index: (usize, usize)) -> &Self::Output

Performs the indexing (container[index]) operation.

impl Mul<&Vector3D> for &Symmetric3

type Output = Vector3D

The resulting type after applying the * operator.

fn mul(self, rhs: &Vector3D) -> Self::Output

Performs the * operation.

impl Mul<Symmetric3> for f64

type Output = Symmetric3

The resulting type after applying the * operator.

fn mul(self, rhs: Symmetric3) -> Self::Output

Performs the * operation.

impl Mul<f64> for Symmetric3

type Output = Symmetric3

The resulting type after applying the * operator.

fn mul(self, rhs: f64) -> Self::Output

Performs the * operation.

impl PartialEq for Symmetric3

fn eq(&self, other: &Symmetric3) -> 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 for Symmetric3

type Output = Symmetric3

The resulting type after applying the - operator.

fn sub(self, rhs: Symmetric3) -> Self::Output

Performs the - operation.

impl Copy for Symmetric3

impl StructuralPartialEq for Symmetric3