Struct Twist 

#[repr(C)]
pub struct Twist {
    pub omega: Vec3,
    pub v: Vec3,
}

A body-frame (right) twist: angular velocity ω (rad/s) and linear velocity v (m/s), both expressed in the moving frame.

See the module docs for the convention and why it is load-bearing. 48 bytes, repr(C), no interior padding — so it is Pod and a &[Twist] can be handed to a C ABI as [ωx ωy ωz vx vy vz] pairs without a copy.

Fields

omega: Vec3

Angular velocity, body frame, rad/s.

v: Vec3

Linear velocity, body frame, m/s.

Implementations

impl Twist

pub const ZERO: Twist

The zero twist — a stationary body.

pub const fn new(omega: Vec3, v: Vec3) -> Twist

Construct from angular and linear parts.

pub const fn from_se3(xi: [f64; 6]) -> Twist

Reinterpret an [ω, v] twist array — the ordering log_se3 returns.

pub const fn to_se3(self) -> [f64; 6]

The [ω, v] array — the ordering exp_se3 consumes.

pub const fn scale(self, k: f64) -> Twist

Scale both parts. Used to turn a per-unit-s screw twist into a per-second one: ξ / Δt.

pub const fn add(self, rhs: Twist) -> Twist

Component-wise sum — the + V_bc^c of the composition identity.

pub const fn sub(self, rhs: Twist) -> Twist

Component-wise difference.

pub const fn neg(self) -> Twist

Negate both parts.

pub fn to_spatial(&self, t: &Iso3) -> Twist

The spatial (left) twist of the same motion: Ad(T)·V^b.

t is the pose the body twist was taken at — normally the pose returned alongside it. Getting this argument wrong produces a valid-looking twist in the wrong frame, which is the failure mode this method exists to make explicit rather than to let a caller open-code.

pub fn amax(self) -> f64

Largest absolute component, for tolerance comparisons in tests.

Trait Implementations

impl Clone for Twist

fn clone(&self) -> Twist

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Twist

impl Debug for Twist

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

Formats the value using the given formatter.

impl PartialEq for Twist

fn eq(&self, other: &Twist) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Pod for Twist

impl StructuralPartialEq for Twist

impl Zeroable for Twist

fn zeroed() -> Self

Calls zeroed.