Struct RigidTransform 

pub struct RigidTransform { /* private fields */ }

RigidTransform represents a rigid transformation in 3D space.

A rigid transformation is a combination of a rotation and a translation. It preserves the distance between any two points and the orientation of objects.

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;
use std::f64::consts::PI;

// Create a rotation around Z and a translation
let rotation = Rotation::from_euler(&array![0.0, 0.0, PI/2.0].view(), "xyz")?;
let translation = array![1.0, 2.0, 3.0];

// Create a rigid transform from rotation and translation
let transform = RigidTransform::from_rotation_and_translation(rotation, &translation.view())?;

// Apply the transform to a point
let point = array![0.0, 0.0, 0.0];
let transformed = transform.apply(&point.view());
// Should be [1.0, 2.0, 3.0] (just the translation for the origin)

// Another point
let point2 = array![1.0, 0.0, 0.0];
let transformed2 = transform.apply(&point2.view());
// Should be [1.0, 3.0, 3.0] (rotated then translated)

Implementations

impl RigidTransform

pub fn from_rotation_and_translation( rotation: Rotation, translation: &ArrayView1<'_, f64>, ) -> SpatialResult<Self>

Create a new rigid transform from a rotation and translation

Arguments

• rotation - The rotation component
• translation - The translation vector (3D)

Returns

A SpatialResult containing the rigid transform if valid, or an error if invalid

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;

let rotation = Rotation::identity();
let translation = array![1.0, 2.0, 3.0];
let transform = RigidTransform::from_rotation_and_translation(rotation, &translation.view()).unwrap();

pub fn from_matrix(matrix: &ArrayView2<'_, f64>) -> SpatialResult<Self>

Create a rigid transform from a 4x4 transformation matrix

Arguments

• matrix - A 4x4 transformation matrix in homogeneous coordinates

Returns

A SpatialResult containing the rigid transform if valid, or an error if invalid

Examples

use scirs2_spatial::transform::RigidTransform;
use scirs2_core::ndarray::array;

// Create a transformation matrix for translation by [1, 2, 3]
let matrix = array![
    [1.0, 0.0, 0.0, 1.0],
    [0.0, 1.0, 0.0, 2.0],
    [0.0, 0.0, 1.0, 3.0],
    [0.0, 0.0, 0.0, 1.0]
];
let transform = RigidTransform::from_matrix(&matrix.view()).unwrap();

pub fn as_matrix(&self) -> Array2<f64>

Convert the rigid transform to a 4x4 matrix in homogeneous coordinates

Returns

A 4x4 transformation matrix

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;

let rotation = Rotation::identity();
let translation = array![1.0, 2.0, 3.0];
let transform = RigidTransform::from_rotation_and_translation(rotation, &translation.view()).unwrap();
let matrix = transform.as_matrix();
// Should be a 4x4 identity matrix with the last column containing the translation

pub fn rotation(&self) -> &Rotation

Get the rotation component of the rigid transform

Returns

The rotation component

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;

let rotation = Rotation::identity();
let translation = array![1.0, 2.0, 3.0];
let transform = RigidTransform::from_rotation_and_translation(rotation.clone(), &translation.view()).unwrap();
let retrieved_rotation = transform.rotation();

pub fn translation(&self) -> &Array1<f64>

Get the translation component of the rigid transform

Returns

The translation vector

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;

let rotation = Rotation::identity();
let translation = array![1.0, 2.0, 3.0];
let transform = RigidTransform::from_rotation_and_translation(rotation, &translation.view()).unwrap();
let retrieved_translation = transform.translation();

pub fn apply(&self, point: &ArrayView1<'_, f64>) -> SpatialResult<Array1<f64>>

Apply the rigid transform to a point or vector

Arguments

• point - A 3D point or vector to transform

Returns

The transformed point or vector

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;
use std::f64::consts::PI;

let rotation = Rotation::from_euler(&array![0.0, 0.0, PI/2.0].view(), "xyz")?;
let translation = array![1.0, 2.0, 3.0];
let transform = RigidTransform::from_rotation_and_translation(rotation, &translation.view())?;
let point = array![1.0, 0.0, 0.0];
let transformed = transform.apply(&point.view())?;
// Should be [1.0, 3.0, 3.0] (rotated then translated)

pub fn apply_multiple( &self, points: &ArrayView2<'_, f64>, ) -> SpatialResult<Array2<f64>>

Apply the rigid transform to multiple points

Arguments

• points - A 2D array of points (each row is a 3D point)

Returns

A 2D array of transformed points

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;

let rotation = Rotation::identity();
let translation = array![1.0, 2.0, 3.0];
let transform = RigidTransform::from_rotation_and_translation(rotation, &translation.view()).unwrap();
let points = array![[0.0, 0.0, 0.0], [1.0, 1.0, 1.0]];
let transformed = transform.apply_multiple(&points.view());

pub fn inv(&self) -> SpatialResult<RigidTransform>

Get the inverse of the rigid transform

Returns

A new RigidTransform that is the inverse of this one

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;

let rotation = Rotation::identity();
let translation = array![1.0, 2.0, 3.0];
let transform = RigidTransform::from_rotation_and_translation(rotation, &translation.view()).unwrap();
let inverse = transform.inv();

pub fn compose(&self, other: &RigidTransform) -> SpatialResult<RigidTransform>

Compose this rigid transform with another (apply the other transform after this one)

Arguments

• other - The other rigid transform to combine with

Returns

A new RigidTransform that represents the composition

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;

let t1 = RigidTransform::from_rotation_and_translation(
    Rotation::identity(),
    &array![1.0, 0.0, 0.0].view()
).unwrap();
let t2 = RigidTransform::from_rotation_and_translation(
    Rotation::identity(),
    &array![0.0, 1.0, 0.0].view()
).unwrap();
let combined = t1.compose(&t2);
// Should have a translation of [1.0, 1.0, 0.0]

pub fn identity() -> RigidTransform

Create an identity rigid transform (no rotation, no translation)

Returns

A new RigidTransform that represents identity

Examples

use scirs2_spatial::transform::RigidTransform;
use scirs2_core::ndarray::array;

let identity = RigidTransform::identity();
let point = array![1.0, 2.0, 3.0];
let transformed = identity.apply(&point.view());
// Should still be [1.0, 2.0, 3.0]

pub fn from_translation( translation: &ArrayView1<'_, f64>, ) -> SpatialResult<RigidTransform>

Create a rigid transform that only has a translation component

Arguments

• translation - The translation vector

Returns

A new RigidTransform with no rotation

Examples

use scirs2_spatial::transform::RigidTransform;
use scirs2_core::ndarray::array;

let transform = RigidTransform::from_translation(&array![1.0, 2.0, 3.0].view()).unwrap();
let point = array![0.0, 0.0, 0.0];
let transformed = transform.apply(&point.view());
// Should be [1.0, 2.0, 3.0]

pub fn from_rotation(rotation: Rotation) -> RigidTransform

Create a rigid transform that only has a rotation component

Arguments

• rotation - The rotation component

Returns

A new RigidTransform with no translation

Examples

use scirs2_spatial::transform::{Rotation, RigidTransform};
use scirs2_core::ndarray::array;
use std::f64::consts::PI;

let rotation = Rotation::from_euler(&array![0.0, 0.0, PI/2.0].view(), "xyz")?;
let transform = RigidTransform::from_rotation(rotation);
let point = array![1.0, 0.0, 0.0];
let transformed = transform.apply(&point.view())?;
// Should be [0.0, 1.0, 0.0]

Trait Implementations

impl Clone for RigidTransform

fn clone(&self) -> RigidTransform

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for RigidTransform

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

Formats the value using the given formatter.