Type Alias SpatialMotionVector 

pub type SpatialMotionVector = SpatialVector<Motion>;

Aliased Type

pub struct SpatialMotionVector {
    pub top: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    pub bottom: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>,
    /* private fields */
}

Fields

top: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

The top (angular) component of the spatial vector.

• For motion vectors: angular velocity ω
• For force vectors: moment/torque n

bottom: Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

The bottom (linear) component of the spatial vector.

• For motion vectors: linear velocity v
• For force vectors: force f

Trait Implementations

impl SpatialVec for SpatialMotionVector

type DualType = SpatialVector<Force>

The dual type of this spatial vector.

fn from_pair(top: Vec3, bottom: Vec3) -> Self

Create a spatial vector from its top and bottom 3D components.

fn top(&self) -> Vec3

Get the top (angular) 3D component of the spatial vector.

fn bottom(&self) -> Vec3

Get the bottom (linear) 3D component of the spatial vector.

fn dot(&self, rhs: &Self::DualType) -> Real

Calculate the dot product with the dual vector type.

fn cross_dual(&self, rhs: &Self::DualType) -> Self::DualType

Calculate the cross product with the dual vector type.

fn transpose(&self) -> Self::DualType

Compute the transpose (dual) of the spatial vector.