Enum SceneKind 

pub enum SceneKind {
    Plane,
    Cylinder,
    Sphere,
    TwoPlanes,
    Corner,
    TeeJoint,
    Corridor,
}

The set of scenes whose answer is known.

Variants

Plane

A single plane.

Cylinder

The lateral surface of a cylinder.

Sphere

A sphere.

TwoPlanes

Two non-parallel planes.

Corner

A trihedral corner.

TeeJoint

A T-shaped weld joint.

Corridor

A long corridor: a floor and two walls.

Implementations

impl SceneKind

pub const ALL: [SceneKind; 7]

Every scene.

pub fn name(self) -> &'static str

A name for messages.

pub fn nullspace(self) -> Vec<Vector6<f64>>

The analytical basis of the null space in the canonical pose.

The derivation for each scene, from the Jacobian row [nᵀ | (p × n)ᵀ]:

Plane z = 0, n = (0,0,1), points (a, b, 0). Here p × n = (b, −a, 0), and requiring ρz + b·φx − a·φy = 0 for all a, b gives φx = φy = ρz = 0. Free: ρx, ρy, φz — the in-plane translations and rotation about the normal, three degrees of freedom.

Cylinder with axis z, points (r cosθ, r sinθ, h), n = (cosθ, sinθ, 0). Here p × n = (−h sinθ, h cosθ, 0), and requiring cosθ·(ρx + h·φy) + sinθ·(ρy − h·φx) = 0 for all θ and at least two distinct h gives ρx = ρy = φx = φy = 0. Free: ρz and φz — sliding along the axis and spinning about it.

Sphere centred at the origin: p = r·n, hence p × n = r·(n × n) = 0, so the rotational block of every row vanishes identically. The normals cover all directions, so ρ = 0. Free: all three rotations. Note that the answer depends on the sphere’s centre coinciding with the centre of rotation; a displaced sphere has a different basis.

Two planes z = 0 and x = 0. The first gives φx = φy = ρz = 0, the second φy = φz = ρx = 0. Together only ρy is free: translation along the line of intersection.

Trihedral corner adds the plane y = 0 with the condition ρy = φx = φz = 0. Nothing is left — full observability.

Tee joint is the same pair of orthogonal planes as above, with realistic extents. Translation along the seam is free.

Corridor: the floor z = 0 gives ρz = φx = φy = 0, and the walls x = ±s give ρx = φy = φz = 0. Translation along the corridor is free.

pub fn nullspace_dimension(self) -> usize

Dimension of the null space.

Trait Implementations

impl Clone for SceneKind

fn clone(&self) -> SceneKind

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for SceneKind

impl Debug for SceneKind

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

Formats the value using the given formatter.

impl Eq for SceneKind

impl PartialEq for SceneKind

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

Equality operator ==.

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

Inequality operator !=.

impl StructuralPartialEq for SceneKind