Struct Pose 

pub struct Pose {
    pub x: f32,
    pub y: f32,
    pub theta: f32,
}

A planar pose in the world frame: position and heading.

Examples

use pamoja_kit::Pose;

let start = Pose::origin();
assert_eq!((start.x, start.y, start.theta), (0.0, 0.0, 0.0));

Fields

x: f32

Position along the world x axis, in metres.

y: f32

Position along the world y axis, in metres.

theta: f32

Heading from the world x axis, in radians, in (-pi, pi], positive counter-clockwise.

Implementations

impl Pose

pub fn new(x: f32, y: f32, theta: f32) -> Self

Creates a pose; the heading is wrapped into (-pi, pi].

Arguments

• x - position along the world x axis.
• y - position along the world y axis.
• theta - heading in radians, wrapped to (-pi, pi].

Returns

The pose.

pub fn origin() -> Self

Returns the origin pose: at (0, 0) facing along the x axis.

Returns

The origin pose.

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Pose

impl Debug for Pose

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

Formats the value using the given formatter.

impl PartialEq for Pose

fn eq(&self, other: &Pose) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Pose