Struct Pose 

pub struct Pose {
    pub rotation: UnitQuat,
    pub translation: Vec3,
}

A 6DOF pose represented by rotation and translation.

This represents a rigid body transformation in 3D space with a quaternion for rotation and a 3D vector for translation. The pose transforms points from local/object coordinates to world/reference coordinates.

Fields

rotation: UnitQuat

Rotation component as a unit quaternion

translation: Vec3

Translation component as a 3D vector

Implementations

impl Pose

pub fn transform_point(&self, local: Vec3) -> Vec3

Transform a point from local/object coordinates to world/reference coordinates.

Applies both rotation and translation to transform a point position. The formula is: world_point = rotation * local_point + translation

Arguments

• local - Point in local coordinates

Returns

Point in world/reference coordinates

pub fn transform_vec(&self, local: Vec3) -> Vec3

Transform a vector from local/object coordinates to world/reference coordinates.

Applies only the rotation component, ignoring translation. This is appropriate for transforming directions, velocities, forces, or any vector quantity that represents a direction rather than a position.

Arguments

• local - Vector in local coordinates

Returns

Vector in world/reference coordinates

pub fn inverse(&self) -> Pose

Compute the inverse of the pose.

Returns a pose that transforms from world/reference coordinates back to local/object coordinates. The formula is: X⁻¹ = [R⁻¹, -R⁻¹·t]

Returns

Inverse pose that undoes this transformation

pub fn is_identity(&self, epsilon: Real) -> bool

Check whether the pose is close to identity.

Returns true if both the rotation angle and translation magnitude are below the given epsilon threshold.

Arguments

• epsilon - Maximum allowed deviation from identity

Returns

True if the pose is approximately identity

pub fn into_array(self) -> [Real; 7]

Convert the pose to a [Real; 7] array with the format [x, y, z, i, j, k, w].

pub fn from_array(arr: [Real; 7]) -> Self

Create a pose from a [Real; 7] array with the format [x, y, z, i, j, k, w].

pub fn from_slice(arr: &[Real]) -> Self

Create a pose from a slice with the format [x, y, z, i, j, k, w].

Panics

Panics if the slice length is not 7.

Trait Implementations

impl Clone for Pose

fn clone(&self) -> Pose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Pose

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

Formats the value using the given formatter.

impl Default for Pose

fn default() -> Pose

Returns the “default value” for a type.

impl From<Pose> for PluckerTransform

fn from(pose: Pose) -> Self

Converts to this type from the input type.

impl Mul for Pose

type Output = Pose

The resulting type after applying the * operator.

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

Performs the * operation.

impl Copy for Pose