Struct Twist 

pub struct Twist {
    pub vx: f32,
    pub vy: f32,
    pub omega: f32,
}

A planar body velocity: the command a wheeled robot is driven with.

The frame follows the robotics convention (ROS REP-103): x points forward, y points to the robot’s left, and a positive omega turns counter-clockwise (toward the left). Nonholonomic drives (differential, Ackermann, skid-steer) cannot move sideways and ignore vy; holonomic drives (mecanum, omni) use it.

Examples

use pamoja_kit::Twist;

let forward = Twist::planar(1.0, 0.0); // 1 m/s ahead, no turn
assert_eq!(forward.vy, 0.0);
assert_eq!(Twist::zero(), Twist::new(0.0, 0.0, 0.0));

Fields

vx: f32

Forward speed along the x axis.

vy: f32

Leftward speed along the y axis; zero for drives that cannot strafe.

omega: f32

Yaw rate about the z axis, positive counter-clockwise.

Implementations

impl Twist

pub fn new(vx: f32, vy: f32, omega: f32) -> Self

Creates a twist from its three components.

Arguments

• vx - forward speed.
• vy - leftward speed.
• omega - yaw rate, positive counter-clockwise.

Returns

The twist.

pub fn planar(vx: f32, omega: f32) -> Self

Creates a planar twist with no sideways motion (vy = 0).

Arguments

• vx - forward speed.
• omega - yaw rate, positive counter-clockwise.

Returns

The twist with vy zero.

pub fn zero() -> Self

Returns the zero twist: stopped.

Returns

A twist whose every component is zero.

Trait Implementations

impl Clone for Twist

fn clone(&self) -> Twist

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Twist

impl Debug for Twist

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

Formats the value using the given formatter.

impl PartialEq for Twist

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Twist