Struct SE3State 

pub struct SE3State(pub CompoundState);

A state representing a 3D rigid body transformation, an element of the Special Euclidean group SE(3).

This state is composed of a 3D translation (x, y, z) and a 3D rotation. It is internally represented as a CompoundState.

Tuple Fields

0: CompoundState

Implementations

impl SE3State

pub fn new(x: f64, y: f64, z: f64, rotation: SO3State) -> Self

Creates a new SE3State from x, y, z, and an SO3State for rotation.

Examples

use oxmpl::base::state::{SE3State, SO3State};

// Assuming SO3State can be created, for example, from a quaternion
let rotation = SO3State::identity(); // Example identity rotation
let state = SE3State::new(1.0, 2.0, 3.0, rotation);

assert_eq!(state.get_x(), 1.0);
assert_eq!(state.get_y(), 2.0);
assert_eq!(state.get_z(), 3.0);

pub fn get_translation(&self) -> &RealVectorState

Returns a reference to the translational component (x, y, z) of the state.

pub fn get_rotation(&self) -> &SO3State

Returns a reference to the rotational component (SO3State) of the state.

pub fn get_x(&self) -> f64

Returns the x-coordinate of the state.

pub fn get_y(&self) -> f64

Returns the y-coordinate of the state.

pub fn get_z(&self) -> f64

Returns the z-coordinate of the state.

Trait Implementations

impl Clone for SE3State

fn clone(&self) -> SE3State

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SE3State

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

Formats the value using the given formatter.

impl State for SE3State

fn as_any(&self) -> &dyn Any