Module kalman_rs::traits

Traits

Plane	Finding the attributes of a generic sensor's plane
Transform	Transformations between global and local reference frames. Additionally, It can be used to check if a given local or global point is within the bounds of the sensor.

Functions

organize_points	This function organizes the input points of a sensor into a known order so that quadralateral_contains will correctly function. There is a known edge in which a trapezoid with an extremely low height will choose the wrong order of points. This is relatively easy to fix but quadruples the total number of comparissons needed.
plane_normal_vector	Calculates the vector normal to three input points
quadralateral_contains	Checks if an input point is contained within the within the XY bounds of the sensor. A point with any nonzero Z value needs to also use traits::Plane::on_plane to ensure that the point falls on the same plane as the sensor.
vector3_from_points	Calcuate a nalgebra::Vector3<f32> position vector from two input nalgebra::Point3<f32>