Struct RigidTransform 

pub struct RigidTransform {
    pub theta: f64,
    pub tx: f64,
    pub ty: f64,
}

A rigid 2-D transform: rotation by theta followed by translation (tx, ty).

The transformation of a point (x, y) is:

x' = cos(theta) * x - sin(theta) * y + tx
y' = sin(theta) * x + cos(theta) * y + ty

Fields

theta: f64

Rotation angle in radians

tx: f64

Translation along the X axis

ty: f64

Translation along the Y axis

Implementations

impl RigidTransform

pub fn new(theta: f64, tx: f64, ty: f64) -> Self

Create a new rigid transform.

pub fn identity() -> Self

The identity transform (no rotation, no translation).

pub fn translation(tx: f64, ty: f64) -> Self

Create a pure translation (no rotation).

pub fn rotation(theta: f64) -> Self

Create a pure rotation about the origin (no translation).

pub fn apply(&self, x: f64, y: f64) -> (f64, f64)

Apply this transform to a point.

pub fn inverse(&self) -> Self

Compute the inverse transform.

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

Compose two rigid transforms: first self, then other. Equivalent to applying self followed by other.

pub fn normalize_angle(&mut self)

Normalise the angle to [-PI, PI).

pub fn angle_degrees(&self) -> f64

Return the rotation angle in degrees.

pub fn translation_magnitude(&self) -> f64

Compute the translation magnitude.

Trait Implementations

impl Clone for RigidTransform

fn clone(&self) -> RigidTransform

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidTransform

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

Formats the value using the given formatter.

impl PartialEq for RigidTransform

fn eq(&self, other: &RigidTransform) -> 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 Copy for RigidTransform

impl StructuralPartialEq for RigidTransform