Type Alias SpatialTransform 

pub type SpatialTransform = SpatialTransform<f64>;

Plucker transform: rigid body transformation acting on spatial vectors.

Represents a coordinate transform from frame A to frame B. Stored as rotation R and translation p (position of B’s origin in A’s frame).

Do not write xf.rot * v or xf.rot.transpose() * v by hand. For a body transform from forward kinematics, rot is the world→body rotation and pos is the body origin in world coordinates — a convention every raw call site must independently remember, and getting it backwards is invisible at identity. Use the named, direction-carrying methods on SpatialTransformExt instead: SpatialTransformExt::body_to_world_point, SpatialTransformExt::world_to_body_point, SpatialTransformExt::body_to_world_dir, and SpatialTransformExt::world_to_body_dir.

Aliased Type

#[repr(C)]
pub struct SpatialTransform {
    pub rot: Mat3<f64>,
    pub pos: Vec3<f64>,
}

Fields

rot: Mat3<f64>

pos: Vec3<f64>

Trait Implementations

impl SpatialTransformExt for SpatialTransform

fn body_to_world_point(&self, p: Vec3) -> Vec3

Map a point in body coordinates to world coordinates: pos + rot.transpose() * p.

fn world_to_body_point(&self, p: Vec3) -> Vec3

Map a point in world coordinates to body coordinates: rot * (p - pos).

fn body_to_world_dir(&self, d: Vec3) -> Vec3

Rotate a direction (axis, force, velocity, offset) from body to world: rot.transpose() * d. No translation.

fn world_to_body_dir(&self, d: Vec3) -> Vec3

Rotate a direction (axis, force, velocity, offset) from world to body: rot * d. No translation.