Struct SpatialVector 

pub struct SpatialVector<T = ()> {
    pub top: Vec3,
    pub bottom: Vec3,
    /* private fields */
}

A 6D spatial vector representing either motion or force.

Fields

top: Vec3

The top (angular) component of the spatial vector.

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

bottom: Vec3

The bottom (linear) component of the spatial vector.

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

Implementations

impl<T> SpatialVector<T>

pub const ZERO: Self

Zero spatial vector (both angular and linear components are zero).

This is useful for initialization and as the identity element for vector addition operations.

pub const fn from_array(array: [Real; 6]) -> Self

Create a spatial vector from a 6-element array.

Array Format

• Motion vectors: [ωx, ωy, ωz, vx, vy, vz] where ω is angular velocity and v is linear velocity
• Force vectors: [nx, ny, nz, fx, fy, fz] where n is moment/torque and f is force

Example

use spatial_math::SpatialMotionVector;

let velocity = SpatialMotionVector::from_array([1.0, 0.0, 0.0, 0.0, 1.0, 0.0]);
// ω = [1, 0, 0], v = [0, 1, 0]

pub fn from_vec6(vec: SVector<6>) -> Self

Create a spatial vector from a 6D static vector.

This is useful when converting from other linear algebra representations that use SVector<6>.

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

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

This is often used when you have separate angular and linear quantities that need to be combined into a spatial vector.

Arguments

• top - The angular component (ω for motion, n for force)
• bottom - The linear component (v for motion, f for force)

pub fn into_array(self) -> [Real; 6]

Convert the spatial vector to a 6-element array.

Returns the components in the same format as expected by from_array(): [top.x, top.y, top.z, bottom.x, bottom.y, bottom.z]

pub fn any_nan(&self) -> bool

pub fn add(&self, rhs: &Self) -> Self

pub fn sub(&self, rhs: &Self) -> Self

pub fn neg(&self) -> Self

pub fn scale(&self, scalar: Real) -> Self

pub fn cross(&self, rhs: &Self) -> Self

pub fn into_vec6(self) -> SVector<6>

Trait Implementations

impl<T> Add for SpatialVector<T>

type Output = SpatialVector<T>

The resulting type after applying the + operator.

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

Performs the + operation.

impl<T> AddAssign for SpatialVector<T>

fn add_assign(&mut self, rhs: Self)

Performs the += operation.

impl<T: Clone> Clone for SpatialVector<T>

fn clone(&self) -> SpatialVector<T>

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for SpatialVector<T>

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

Formats the value using the given formatter.

impl<T: Default> Default for SpatialVector<T>

fn default() -> SpatialVector<T>

Returns the “default value” for a type.

impl<T> Display for SpatialVector<T>

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

Formats the value using the given formatter.

impl<T> From<SpatialVector<T>> for Vec6

fn from(v: SpatialVector<T>) -> Self

Converts to this type from the input type.

impl Mul<SpatialVector<Force>> for PluckerTransform

type Output = SpatialVector<Force>

The resulting type after applying the * operator.

fn mul(self, rhs: SpatialForceVector) -> SpatialForceVector

Performs the * operation.

impl Mul<SpatialVector<Motion>> for &ArticulatedBodyInertia

type Output = SpatialVector<Force>

The resulting type after applying the * operator.

fn mul(self, rhs: SpatialMotionVector) -> Self::Output

Performs the * operation.

impl Mul<SpatialVector<Motion>> for ArticulatedBodyInertia

type Output = SpatialVector<Force>

The resulting type after applying the * operator.

fn mul(self, rhs: SpatialMotionVector) -> Self::Output

Performs the * operation.

impl Mul<SpatialVector<Motion>> for PluckerTransform

type Output = SpatialVector<Motion>

The resulting type after applying the * operator.

fn mul(self, rhs: SpatialMotionVector) -> SpatialMotionVector

Performs the * operation.

impl Mul<SpatialVector<Motion>> for RigidBodyInertia

type Output = SpatialVector<Force>

The resulting type after applying the * operator.

fn mul(self, rhs: SpatialMotionVector) -> Self::Output

Performs the * operation.

impl<T> Mul<f32> for SpatialVector<T>

type Output = SpatialVector<T>

The resulting type after applying the * operator.

fn mul(self, rhs: Real) -> Self::Output

Performs the * operation.

impl<T> Neg for SpatialVector<T>

type Output = SpatialVector<T>

The resulting type after applying the - operator.

fn neg(self) -> Self::Output

Performs the unary - operation.

impl<T: PartialEq> PartialEq for SpatialVector<T>

fn eq(&self, other: &SpatialVector<T>) -> 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<T> Sub for SpatialVector<T>

type Output = SpatialVector<T>

The resulting type after applying the - operator.

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

Performs the - operation.

impl<T> SubAssign for SpatialVector<T>

fn sub_assign(&mut self, rhs: Self)

Performs the -= operation.

impl<T: Copy> Copy for SpatialVector<T>

impl<T> StructuralPartialEq for SpatialVector<T>