Struct Pose 

pub struct Pose {
    pub pos: Option<Lla>,
    pub att_enu: Option<Quaternion>,
}

Fields

pos: Option<Lla>

Geospatial location defined by this Pose.

att_enu: Option<Quaternion>

The quaternion to transform a point in the Pose frame to the ENU frame. The Pose frame could be Body, Turret, etc and is determined by the context in which this Pose is used. The normal convention for defining orientation is to list the frames of transformation, for example att_gimbal_to_enu is the quaternion which transforms a point in the gimbal frame to the body frame, but in this case we truncate to att_enu because the Pose frame isn’t defined. A potentially better name for this field would have been att_pose_to_enu.

Implementations of this quaternion should left multiply this quaternion to transform a point from the Pose frame to the enu frame.

Point<Pose> posePt{1,0,0}; Rotation<Enu, Pose> attPoseToEnu{}; Point<Enu> = attPoseToEnu*posePt;

This transformed point represents some vector in ENU space that is aligned with the x axis of the attPoseToEnu matrix.

An alternative matrix expression is as follows: ptEnu = M x ptPose

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Pose

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Pose

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for Pose

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

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for Pose