Enum Pose

pub enum Pose {
    Euler([f64; 3], [f64; 3]),
    Quat(Isometry3<f64>),
    Homo([f64; 16]),
    AxisAngle([f64; 3], [f64; 3], f64),
    Position([f64; 3]),
}

Variants

Euler([f64; 3], [f64; 3])

Quat(Isometry3<f64>)

Homo([f64; 16])

AxisAngle([f64; 3], [f64; 3], f64)

Position([f64; 3])

Implementations

impl Pose

pub fn euler(&self) -> ([f64; 3], [f64; 3])

Examples found in repository

examples/arm_param.rs (line 26)

fn main() {
    let q = [1.; 7];
    let pose = ExRobot::forward_kinematics(&q);
    println!("pose: {:?}", pose.axis_angle());
    println!("pose: {:?}", pose.euler());
    println!("pose: {:?}", pose.homo());
    println!("pose: {:?}", pose.position());
    println!("pose: {:?}", pose.quat());
}

pub fn quat(&self) -> Isometry3<f64>

Examples found in repository

examples/arm_param.rs (line 29)

fn main() {
    let q = [1.; 7];
    let pose = ExRobot::forward_kinematics(&q);
    println!("pose: {:?}", pose.axis_angle());
    println!("pose: {:?}", pose.euler());
    println!("pose: {:?}", pose.homo());
    println!("pose: {:?}", pose.position());
    println!("pose: {:?}", pose.quat());
}

pub fn quat_array(&self) -> ([f64; 3], [f64; 4])

pub fn homo(&self) -> [f64; 16]

Examples found in repository

examples/arm_param.rs (line 27)

fn main() {
    let q = [1.; 7];
    let pose = ExRobot::forward_kinematics(&q);
    println!("pose: {:?}", pose.axis_angle());
    println!("pose: {:?}", pose.euler());
    println!("pose: {:?}", pose.homo());
    println!("pose: {:?}", pose.position());
    println!("pose: {:?}", pose.quat());
}

pub fn axis_angle(&self) -> ([f64; 3], [f64; 3], f64)

Examples found in repository

examples/arm_param.rs (line 25)

fn main() {
    let q = [1.; 7];
    let pose = ExRobot::forward_kinematics(&q);
    println!("pose: {:?}", pose.axis_angle());
    println!("pose: {:?}", pose.euler());
    println!("pose: {:?}", pose.homo());
    println!("pose: {:?}", pose.position());
    println!("pose: {:?}", pose.quat());
}

pub fn position(&self) -> [f64; 3]

Examples found in repository

examples/arm_param.rs (line 28)

fn main() {
    let q = [1.; 7];
    let pose = ExRobot::forward_kinematics(&q);
    println!("pose: {:?}", pose.axis_angle());
    println!("pose: {:?}", pose.euler());
    println!("pose: {:?}", pose.homo());
    println!("pose: {:?}", pose.position());
    println!("pose: {:?}", pose.quat());
}

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Pose

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

Formats the value using the given formatter.

impl Default for Pose

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Pose

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Div for &Pose

type Output = f64

The resulting type after applying the / operator.

fn div(self, rhs: Self) -> Self::Output

Performs the / operation.

impl Div for Pose

type Output = f64

The resulting type after applying the / operator.

fn div(self, rhs: Self) -> Self::Output

Performs the / operation.

impl From<[f64; 16]> for Pose

fn from(value: [f64; 16]) -> Self

Converts to this type from the input type.

impl From<[f64; 3]> for Pose

fn from(value: [f64; 3]) -> Self

Converts to this type from the input type.

impl From<[f64; 6]> for Pose

fn from(value: [f64; 6]) -> Self

Converts to this type from the input type.

impl From<[f64; 7]> for Pose

fn from(value: [f64; 7]) -> Self

Converts to this type from the input type.

impl From<([f64; 3], [f64; 3])> for Pose

fn from(value: ([f64; 3], [f64; 3])) -> Self

Converts to this type from the input type.

impl From<([f64; 3], [f64; 3], f64)> for Pose

fn from(value: ([f64; 3], [f64; 3], f64)) -> Self

Converts to this type from the input type.

impl From<([f64; 3], [f64; 4])> for Pose

fn from(value: ([f64; 3], [f64; 4])) -> Self

Converts to this type from the input type.

impl From<Isometry<f64, Unit<Quaternion<f64>>, 3>> for Pose

fn from(value: Isometry3<f64>) -> Self

Converts to this type from the input type.

impl From<Pose> for [f64; 16]

fn from(value: Pose) -> Self

Converts to this type from the input type.

impl From<Pose> for [f64; 3]

fn from(value: Pose) -> Self

Converts to this type from the input type.

impl From<Pose> for [f64; 6]

fn from(value: Pose) -> Self

Converts to this type from the input type.

impl PartialEq for Pose

fn eq(&self, other: &Pose) -> 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 Serialize for Pose

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl TryFrom<&[f64]> for Pose

type Error = TryIntoPoseError

The type returned in the event of a conversion error.

fn try_from(value: &[f64]) -> Result<Self, Self::Error>

Performs the conversion.

impl Copy for Pose

impl StructuralPartialEq for Pose