Struct LieGroupSO3 

pub struct LieGroupSO3 {
    pub matrix: [[f64; 3]; 3],
}

Element of SO(3): 3×3 rotation matrix stored row-major.

Fields

matrix: [[f64; 3]; 3]

Row-major 3×3 rotation matrix

Implementations

impl LieGroupSO3

pub fn identity() -> Self

Identity rotation.

pub fn from_axis_angle(omega: &[f64; 3]) -> Self

Rodrigues’ rotation formula: R(ω) = I + sin(θ)/θ [ω]× + (1-cos(θ))/θ² [ω]ײ

where ω is the rotation axis-angle vector (|ω| = θ).

pub fn apply(&self, v: &[f64; 3]) -> [f64; 3]

Apply rotation to a 3-vector v → R·v.

pub fn compose(&self, other: &LieGroupSO3) -> LieGroupSO3

Compose two rotations: (self * other).apply(v) = self.apply(other.apply(v))

pub fn transpose(&self) -> LieGroupSO3

Transpose = inverse for SO(3).

pub fn log_map(&self) -> [f64; 3]

Extract the axis-angle vector ω from R using the logarithm map.

Returns ω such that from_axis_angle(ω) ≈ self.

pub fn is_valid(&self) -> bool

Check if the matrix is a valid rotation (det ≈ 1, R·Rᵀ ≈ I).

Trait Implementations

impl Clone for LieGroupSO3

fn clone(&self) -> LieGroupSO3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for LieGroupSO3

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

Formats the value using the given formatter.