Struct Rotation 

pub struct Rotation {
    pub m: DMat3,
    pub dm: DMat3,
}

A rotation matrix with its time derivative, for transforming position and velocity vectors.

Fields

m: DMat3

Rotation matrix.

dm: DMat3

Time derivative of the rotation matrix.

Implementations

impl Rotation

pub const IDENTITY: Self

Identity rotation (no rotation, zero derivative).

pub fn new(m: DMat3) -> Self

Creates a rotation from a matrix with zero time derivative.

pub fn with_derivative(self, dm: DMat3) -> Self

Sets the time derivative of the rotation matrix.

pub fn with_angular_velocity(self, v: DVec3) -> Self

Sets the time derivative from an angular velocity vector.

pub fn position_matrix(&self) -> DMat3

Returns the position rotation matrix.

pub fn velocity_matrix(&self) -> DMat3

Returns the velocity rotation matrix (time derivative).

pub fn compose(self, other: Self) -> Self

Composes this rotation with another (self then other).

pub fn transpose(&self) -> Self

Returns the transpose (inverse) rotation.

pub fn rotate_position(&self, pos: DVec3) -> DVec3

Rotates a position vector.

pub fn rotate_velocity(&self, pos: DVec3, vel: DVec3) -> DVec3

Rotates a velocity vector (accounting for the rotation rate).

pub fn rotate_state(&self, pos: DVec3, vel: DVec3) -> (DVec3, DVec3)

Rotates a full state (position and velocity).

Trait Implementations

impl ApproxEq for Rotation

fn approx_eq(&self, rhs: &Self, atol: f64, rtol: f64) -> ApproxEqResults

Compares self with rhs for approximate equality.

impl Clone for Rotation

fn clone(&self) -> Rotation

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Rotation

impl Debug for Rotation

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

Formats the value using the given formatter.

impl Default for Rotation

fn default() -> Self

Returns the “default value” for a type.

impl From<DMat3> for Rotation

fn from(matrix: DMat3) -> Self

Converts to this type from the input type.

impl Mul<Cartesian> for Rotation

type Output = Cartesian

The resulting type after applying the * operator.

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

Performs the * operation.

impl Mul<DVec3> for Rotation

type Output = DVec3

The resulting type after applying the * operator.

fn mul(self, rhs: DVec3) -> Self::Output

Performs the * operation.

impl PartialEq for Rotation

fn eq(&self, other: &Rotation) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl StructuralPartialEq for Rotation