Struct Wrench 

pub struct Wrench<T: Numeric = f64> { /* private fields */ }

A spatial force (wrench), stored force-first in the [force; torque] ordering — reciprocal to a Twist, so the two line up component-for-component.

Like Twist, the type owns its layout: the only value constructor takes the force and torque parts by name, and the flat converters emit [f; τ]. Add/Sub/Neg/scale act component-wise; the spatial algebra (coordinate transforms, the twist · wrench power product) is not defined here.

use multicalc::spatial::Wrench;
let a = Wrench::from_array([1.0_f64, 2.0, 3.0, 4.0, 5.0, 6.0]);
let b = Wrench::from_array([1.0_f64; 6]);
assert_eq!((a + b).as_array(), [2.0, 3.0, 4.0, 5.0, 6.0, 7.0]);
assert_eq!((a - b).as_array(), [0.0, 1.0, 2.0, 3.0, 4.0, 5.0]);
assert_eq!((-a).as_array(), [-1.0, -2.0, -3.0, -4.0, -5.0, -6.0]);
assert_eq!(a.scale(2.0).as_array(), [2.0, 4.0, 6.0, 8.0, 10.0, 12.0]);

Implementations

impl<T: Numeric> Wrench<T>

pub fn new(force: Vector3D<T>, torque: Vector3D<T>) -> Self

A wrench from its force and torque parts.

use multicalc::linear_algebra::Vector;
use multicalc::spatial::Wrench;
let force = Vector::new([1.0_f64, 2.0, 3.0]);
let torque = Vector::new([4.0, 5.0, 6.0]);
let w = Wrench::new(force, torque);
assert_eq!(w.force(), Vector::new([1.0, 2.0, 3.0]));
assert_eq!(w.torque(), Vector::new([4.0, 5.0, 6.0]));

pub fn zeros() -> Self

The zero wrench.

use multicalc::spatial::Wrench;
assert_eq!(Wrench::<f64>::zeros().as_array(), [0.0; 6]);

pub fn from_array(a: [T; 6]) -> Self

A wrench from a [fx, fy, fz, τx, τy, τz] array.

use multicalc::linear_algebra::Vector;
use multicalc::spatial::Wrench;
let w = Wrench::from_array([1.0_f64, 2.0, 3.0, 4.0, 5.0, 6.0]);
assert_eq!(w.torque(), Vector::new([4.0, 5.0, 6.0]));

pub fn as_array(self) -> [T; 6]

The wrench as a [fx, fy, fz, τx, τy, τz] array.

use multicalc::spatial::Wrench;
let w = Wrench::from_array([1.0_f64, 2.0, 3.0, 4.0, 5.0, 6.0]);
assert_eq!(w.as_array(), [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);

pub fn from_vector(v: Vector6D<T>) -> Self

A wrench from a flat [f; τ] Vector6D.

use multicalc::linear_algebra::Vector;
use multicalc::spatial::Wrench;
let w = Wrench::from_vector(Vector::new([1.0_f64, 2.0, 3.0, 4.0, 5.0, 6.0]));
assert_eq!(w.force(), Vector::new([1.0, 2.0, 3.0]));

pub fn to_vector(self) -> Vector6D<T>

The wrench as a flat [f; τ] Vector6D.

use multicalc::linear_algebra::Vector;
use multicalc::spatial::Wrench;
let w = Wrench::from_array([1.0_f64, 2.0, 3.0, 4.0, 5.0, 6.0]);
assert_eq!(w.to_vector(), Vector::new([1.0, 2.0, 3.0, 4.0, 5.0, 6.0]));

pub fn force(self) -> Vector3D<T>

The force part f.

pub fn torque(self) -> Vector3D<T>

The torque (moment) part τ.

pub fn scale(self, scalar: T) -> Self

Multiplies both parts by scalar.

use multicalc::spatial::Wrench;
let w = Wrench::from_array([1.0_f64, 2.0, 3.0, 4.0, 5.0, 6.0]);
assert_eq!(w.scale(2.0).as_array(), [2.0, 4.0, 6.0, 8.0, 10.0, 12.0]);

Trait Implementations

impl<T: Numeric> Add for Wrench<T>

type Output = Wrench<T>

The resulting type after applying the + operator.

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

Performs the + operation.

impl<T: Clone + Numeric> Clone for Wrench<T>

fn clone(&self) -> Wrench<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Copy + Numeric> Copy for Wrench<T>

impl<T: Debug + Numeric> Debug for Wrench<T>

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

Formats the value using the given formatter.

impl<T: Numeric> Default for Wrench<T>

fn default() -> Self

Returns the zero wrench as default.

use multicalc::Wrench;

let default_wrench = Wrench::default();
let wrench = Wrench::<f64>::from_array([1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);

assert_eq!(wrench + default_wrench, wrench);

impl<T: Numeric> From<Vector<6, T>> for Wrench<T>

fn from(v: Vector6D<T>) -> Self

Reinterprets a flat [f; τ] Vector6D as a wrench.

impl<T: Numeric> From<Wrench<T>> for Vector6D<T>

fn from(w: Wrench<T>) -> Self

Flattens a wrench into [f; τ].

impl<T: Numeric> Neg for Wrench<T>

type Output = Wrench<T>

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - operation.

impl<T: PartialEq + Numeric> PartialEq for Wrench<T>

fn eq(&self, other: &Wrench<T>) -> bool

Equality operator ==.

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

Inequality operator !=.

impl<T: PartialEq + Numeric> StructuralPartialEq for Wrench<T>

impl<T: Numeric> Sub for Wrench<T>

type Output = Wrench<T>

The resulting type after applying the - operator.

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

Performs the - operation.