Struct Transform3D 

pub struct Transform3D {
    pub tx: f64,
    pub ty: f64,
    pub tz: f64,
    pub rx: f64,
    pub ry: f64,
    pub rz: f64,
}

A 3D rigid transformation (rotation + translation).

Internally uses nalgebra Isometry3 with quaternion rotation for gimbal-lock-free composition and inversion. The representation stores translation (tx, ty, tz) and Euler angles (roll, pitch, yaw) in radians for human readability.

Euler Angle Convention

• Roll (rx): rotation about X axis
• Pitch (ry): rotation about Y axis
• Yaw (rz): rotation about Z axis

Composition order: Rz * Ry * Rx (extrinsic rotations)

Reference

Diebel (2006), “Representing Attitude: Euler Angles, Unit Quaternions, and Rotation Vectors”

Fields

tx: f64

Translation x.

ty: f64

Translation y.

tz: f64

Translation z.

rx: f64

Roll (rotation about X axis) in radians.

ry: f64

Pitch (rotation about Y axis) in radians.

rz: f64

Yaw (rotation about Z axis) in radians.

Implementations

impl Transform3D

pub fn identity() -> Self

Identity transform.

pub fn translation(tx: f64, ty: f64, tz: f64) -> Self

Creates a translation-only transform.

pub fn new(tx: f64, ty: f64, tz: f64, rx: f64, ry: f64, rz: f64) -> Self

Creates a transform with translation and Euler angles.

pub fn to_isometry(&self) -> Isometry3<f64>

Converts to a nalgebra Isometry3.

Uses the Euler angle convention: Rz * Ry * Rx.

pub fn from_isometry(iso: &Isometry3<f64>) -> Self

Creates from a nalgebra Isometry3.

pub fn apply(&self, x: f64, y: f64, z: f64) -> (f64, f64, f64)

Applies this transform to coordinates.

pub fn apply_point(&self, p: &Point3) -> Point3

Applies this transform to a Point3.

pub fn apply_points(&self, points: &[Point3]) -> Vec<Point3>

Transforms a slice of points.

pub fn then(&self, other: &Self) -> Self

Composes two transforms: applies self first, then other.

pub fn inverse(&self) -> Self

Returns the inverse transform.

pub fn is_identity(&self, epsilon: f64) -> bool

Whether this is approximately an identity transform.

Trait Implementations

impl Clone for Transform3D

fn clone(&self) -> Transform3D

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for Transform3D

impl Debug for Transform3D

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

Formats the value using the given formatter.

impl Default for Transform3D

fn default() -> Self

Returns the “default value” for a type.

impl PartialEq for Transform3D

fn eq(&self, other: &Transform3D) -> 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 StructuralPartialEq for Transform3D