Struct SO2State 

pub struct SO2State {
    pub value: f64,
}

A state representing a 2D rotation, an element of the Special Orthogonal group SO(2).

The angle is stored in radians and is canonically represented in the range [-PI, PI).

Fields

value: f64

Angle of rotation in radians.

Implementations

impl SO2State

pub fn new(val: f64) -> Self

Creates a new SO2State, normalising the input angle to range [-PI, PI).

This constructor ensures that no matter the input value, resulting state’s value will be a valid, equivalent angle within [-PI, PI).

Examples

use std::f64::consts::PI;
use oxmpl::base::state::SO2State;

let state1 = SO2State::new(3.0 * PI / 2.0);
assert!((state1.value - (-PI / 2.0)).abs() < 1e-9);

let state2 = SO2State::new(5.0 * PI);
assert!((state2.value + PI).abs() < 1e-9);

pub fn normalise(&mut self) -> Self

Normalises the state’s angle in-place to range [-PI, PI).

Method modifies the current state.

Examples

use std::f64::consts::PI;
use oxmpl::base::state::SO2State;

let mut state = SO2State { value: 3.0 * PI / 2.0 }; // Equivalent to -PI/2
state = state.normalise();

assert!((state.value + PI / 2.0).abs() < 1e-9);

Trait Implementations

impl Clone for SO2State

fn clone(&self) -> SO2State

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for SO2State

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

Formats the value using the given formatter.

impl Display for SO2State

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

Formats the value using the given formatter.

impl PartialEq for SO2State

fn eq(&self, other: &SO2State) -> 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 State for SO2State

fn as_any(&self) -> &dyn Any

impl StructuralPartialEq for SO2State