Struct Se3 

pub struct Se3 { /* private fields */ }

A rigid motion: a rotation and a translation.

Implementations

impl Se3

pub fn identity() -> Self

The identity transform.

pub fn from_parts(rotation: So3, translation: Vector3<f64>) -> Self

Builds a transform from a rotation and a translation.

pub fn from_matrix_unchecked(matrix: Matrix4<f64>) -> Self

Builds a transform from a homogeneous 4×4 matrix.

The rotational block is not checked for orthogonality. This exists for reading poses out of files, where the matrix is already given and vouched for by the data source rather than by us.

pub fn rotation(&self) -> &So3

The rotational part.

pub fn translation(&self) -> &Vector3<f64>

The translational part.

pub fn matrix(&self) -> Matrix4<f64>

The homogeneous 4×4 matrix.

pub fn exp(xi: &Vector6<f64>) -> Self

The exponential map se(3) → SE(3).

exp([ρ; φ]) = (exp(φ), J_l(φ)·ρ). The translation passes through the left Jacobian; the naive t = ρ is only a first-order truth.

pub fn log(&self) -> Vector6<f64>

The logarithm SE(3) → se(3).

pub fn inverse(&self) -> Self

The inverse transform.

pub fn adjoint(&self) -> Matrix6<f64>

The 6×6 adjoint representation.

Adj(T) = [[R, t^ R], [0, R]] in the ξ = [ρ; φ] ordering. Its defining property is Adj(T)·ξ = vee(T · ξ^ · T⁻¹).

pub fn transform_point(&self, p: &Vector3<f64>) -> Vector3<f64>

Applies the transform to a point.

Trait Implementations

impl Clone for Se3

fn clone(&self) -> Se3

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Se3

impl Debug for Se3

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

Formats the value using the given formatter.

impl Default for Se3

fn default() -> Self

Returns the “default value” for a type.

impl Mul for Se3

type Output = Se3

The resulting type after applying the * operator.

fn mul(self, rhs: Se3) -> Se3

Performs the * operation.

impl PartialEq for Se3

fn eq(&self, other: &Se3) -> bool

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for Se3