Struct PlukerRotation 

pub struct PlukerRotation(/* private fields */);

A Plücker rotation representing a 3D rotation from reference to local frame.

Implementations

impl PlukerRotation

pub fn from_axis_angle(axis: UnitVec3, angle: Real) -> Self

Create a Plücker rotation from an axis and angle that rotates from reference to local frame.

Coordinate Frame Convention

This creates a rotation that transforms vectors from the parent/reference frame to the child/local frame, following Featherstone’s spatial algebra conventions.

pub fn from_quat(quat: UnitQuat) -> Self

Create a Plücker rotation from a unit quaternion.

The quaternion should represent the rotation from reference to local frame to be consistent with spatial algebra conventions.

pub fn into_quat(self) -> UnitQuat

Convert the Plücker rotation to a unit quaternion.

pub fn into_matrix(self) -> Mat3

Convert the Plücker rotation to a 3x3 matrix.

pub fn identity() -> Self

Create a identity PlukerRotation.

pub fn transpose(&self) -> Self

Transpose of the rotation is identical to the inverse.

Returns the transpose of the rotation matrix, which is equivalent to the inverse for orthogonal rotation matrices.

pub fn matrix(&self) -> Mat3

Convert the rotation to a 3x3 matrix.

Returns the underlying rotation matrix representation.

pub fn inverse_transform_vector(&self, v: Vec3) -> Vec3

Transform a vector from local frame to reference frame.

This is the inverse operation of multiplying a vector by the rotation.

pub fn inverse_transform_unitvec(&self, v: UnitVec3) -> UnitVec3

Transform a unit vector from local frame to reference frame.

This is the inverse operation of multiplying a unit vector by the rotation.

pub fn axis_angle(&self) -> Option<(UnitVec3, Real)>

Get the axis and angle of the rotation.

pub fn from_matrix_unchecked(matrix: Mat3) -> Self

Create a Plücker rotation from a 3x3 matrix without validation.

Safety

The input matrix must be a valid rotation matrix (orthogonal with determinant 1). This function does not perform validation, so invalid input may cause undefined behavior.

pub fn as_slice(&self) -> &[Real]

Get the rotation matrix as a slice.

Returns the 3x3 rotation matrix as a contiguous slice of 9 elements in column-major order.

Trait Implementations

impl Clone for PlukerRotation

fn clone(&self) -> PlukerRotation

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for PlukerRotation

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

Formats the value using the given formatter.

impl Mul<Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>> for PlukerRotation

type Output = Matrix<f32, Const<3>, Const<1>, ArrayStorage<f32, 3, 1>>

The resulting type after applying the * operator.

fn mul(self, rhs: Vec3) -> Vec3

Performs the * operation.

impl Mul<Matrix<f32, Const<3>, Const<3>, ArrayStorage<f32, 3, 3>>> for PlukerRotation

type Output = Matrix<f32, Const<3>, Const<3>, ArrayStorage<f32, 3, 3>>

The resulting type after applying the * operator.

fn mul(self, rhs: Mat3) -> Mat3

Performs the * operation.

impl Mul for PlukerRotation

type Output = PlukerRotation

The resulting type after applying the * operator.

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

Performs the * operation.

impl PartialEq for PlukerRotation

fn eq(&self, other: &PlukerRotation) -> 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 Copy for PlukerRotation

impl StructuralPartialEq for PlukerRotation