Struct CartesianPose 

pub struct CartesianPose {
    pub position: Position3D,
    pub orientation: Quaternion,
}

笛卡尔空间位姿（位置 + 姿态）

Fields

position: Position3D

位置（米）

orientation: Quaternion

姿态（四元数）

Implementations

impl CartesianPose

pub const ZERO: Self

零位姿（原点，无旋转）

pub fn from_position_euler( x: f64, y: f64, z: f64, roll: Rad, pitch: Rad, yaw: Rad, ) -> Self

从位置和欧拉角创建

pub fn from_position_quaternion( position: Position3D, orientation: Quaternion, ) -> Self

从位置和四元数创建

Trait Implementations

impl Clone for CartesianPose

fn clone(&self) -> CartesianPose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for CartesianPose

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

Formats the value using the given formatter.

impl Display for CartesianPose

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

Formats the value using the given formatter.

impl PartialEq for CartesianPose

fn eq(&self, other: &CartesianPose) -> 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 Copy for CartesianPose

impl StructuralPartialEq for CartesianPose