robotics_signals/geometry/
mod.rs

1use crate::standard::Header;
2use cdds_derive::Topic;
3use cyclonedds_rs::*;
4use serde_derive::{Deserialize, Serialize};
5
6#[repr(C)]
7#[derive(Serialize, Deserialize)]
8pub struct Vector3 {
9    pub x: f64,
10    pub y: f64,
11    pub z: f64,
12}
13
14#[repr(C)]
15#[derive(Serialize, Deserialize)]
16pub struct Acceleration {
17    pub linear: Vector3,
18    pub angular: Vector3,
19}
20
21#[repr(C)]
22#[derive(Serialize, Deserialize, Topic)]
23pub struct AccelerationStamped {
24    pub header: Header,
25    pub accel: Acceleration,
26}
27
28#[repr(C)]
29#[derive(Serialize, Deserialize)]
30pub struct AccelerationWithCovariance {
31    pub accel: Acceleration,
32    pub covariance: [[f32; 6]; 6],
33}
34
35#[repr(C)]
36#[derive(Serialize, Deserialize, Topic)]
37pub struct AccelerationWithCovarianceStamped {
38    pub header: Header,
39    pub accel: AccelerationWithCovariance,
40}
41
42///
43/// Inertia Tensor [kg-m^2]
44///     | ixx ixy ixz |
45/// I = | ixy iyy iyz |
46///     | ixz iyz izz |
47///
48#[repr(C)]
49#[derive(Serialize, Deserialize)]
50pub struct Inertia {
51    pub mass: f64,
52    pub centre_of_mass: Vector3,
53    pub ixx: f64,
54    pub ixy: f64,
55    pub ixz: f64,
56    pub iyy: f64,
57    pub iyz: f64,
58    pub izz: f64,
59}
60
61#[repr(C)]
62#[derive(Serialize, Deserialize, Topic)]
63pub struct InertiaStamped {
64    header: Header,
65    inertia: Inertia,
66}
67
68#[repr(C)]
69#[derive(Serialize, Deserialize)]
70pub struct Point {
71    pub x: f64,
72    pub y: f64,
73    pub z: f64,
74}
75
76#[repr(C)]
77#[derive(Serialize, Deserialize)]
78pub struct Point32 {
79    pub x: f32,
80    pub y: f32,
81    pub z: f32,
82}
83
84#[repr(C)]
85#[derive(Serialize, Deserialize, Topic)]
86pub struct PointStamped {
87    pub header: Header,
88    pub point: Point,
89}
90
91///A specification of a polygon where the first and last points are assumed to be connected
92#[repr(C)]
93#[derive(Serialize, Deserialize)]
94pub struct Polygon {
95    pub points: Vec<Point32>,
96}
97
98#[repr(C)]
99#[derive(Serialize, Deserialize, Topic)]
100pub struct PolygonStamped {
101    pub header: Header,
102    pub polygon: Polygon,
103}
104
105#[repr(C)]
106#[derive(Serialize, Deserialize)]
107pub struct Quarternion {
108    pub x: f64,
109    pub y: f64,
110    pub z: f64,
111    pub w: f64,
112}
113
114#[repr(C)]
115#[derive(Serialize, Deserialize, Topic)]
116pub struct QuarternionStamped {
117    pub header: Header,
118    pub quaternion: Quarternion,
119}
120
121///# A representation of pose in free space, composed of position and orientation.
122#[repr(C)]
123#[derive(Serialize, Deserialize)]
124pub struct Pose {
125    pub position: Point,
126    pub orientation: Quarternion,
127}
128
129/// This represents a pose in free space with uncertainty.A representation of pose in free space, composed of position and orientation.
130#[repr(C)]
131#[derive(Serialize, Deserialize)]
132pub struct PoseWithCovariance {
133    pub pose: Pose,
134
135    /// Row-major representation of the 6x6 covariance matrix
136    /// The orientation parameters use a fixed-axis representation.
137    /// In order, the parameters are:
138    /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
139    pub covariance: [[f64; 6]; 6],
140}
141
142#[repr(C)]
143#[derive(Serialize, Deserialize)]
144pub struct PoseStamped {
145    pub header: Header,
146    pub pose: Pose,
147}
148
149#[repr(C)]
150#[derive(Serialize, Deserialize, Topic)]
151pub struct PoseWithCovarianceStamped {
152    pub header: Header,
153    pub pose: Pose,
154
155    /// Row-major representation of the 6x6 covariance matrix
156    /// The orientation parameters use a fixed-axis representation.
157    /// In order, the parameters are:
158    /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
159    pub covariance: [[f64; 6]; 6],
160}
161
162/// This represents the transform between two coordinate frames in free space.
163#[repr(C)]
164#[derive(Serialize, Deserialize)]
165pub struct Transform {
166    pub translation: Vector3,
167    pub rotation: Quarternion,
168}
169
170#[repr(C)]
171#[derive(Serialize, Deserialize, Topic)]
172pub struct TransformStamped {
173    pub header: Header,
174    pub child_frame_id: String,
175    pub transform: Transform,
176}
177
178#[repr(C)]
179#[derive(Serialize, Deserialize)]
180pub struct Twist {
181    pub linear: Vector3,
182    pub angular: Vector3,
183}
184
185#[repr(C)]
186#[derive(Serialize, Deserialize, Topic)]
187pub struct TwistStamped {
188    pub header: Header,
189    pub twist: Twist,
190}
191
192/// This expresses velocity in free space with uncertainty.
193#[repr(C)]
194#[derive(Serialize, Deserialize)]
195pub struct TwistWithCovariance {
196    pub twist: Twist,
197    /// Row-major representation of the 6x6 covariance matrix
198    /// The orientation parameters use a fixed-axis representation.
199    /// In order, the parameters are:
200    /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
201    pub covariance: [[f32; 6]; 6],
202}
203
204#[repr(C)]
205#[derive(Serialize, Deserialize, Topic)]
206pub struct TwistWithCovarianceStamped {
207    pub header: Header,
208    pub twist: TwistWithCovariance,
209}
210/// This represents force in free space, separated into
211/// its linear and angular parts.
212#[repr(C)]
213#[derive(Serialize, Deserialize)]
214pub struct Wrench {
215    pub force: Vector3,
216    pub torque: Vector3,
217}
218
219#[repr(C)]
220#[derive(Serialize, Deserialize, Topic)]
221pub struct WrenchStamped {
222    pub header: Header,
223    pub wrench: Wrench,
224}
robotics_signals/geometry/mod.rs

robotics_signals/geometry/
mod.rs
