Struct ArrayPose 

pub struct ArrayPose {
    pub translation_m: [f64; 3],
    pub rotation_rad: [f64; 3],
    /* private fields */
}

Rigid pose mapping array-local coordinates into sample coordinates.

Rotations are active, right-handed, extrinsic rotations about the fixed sample x, y, then z axes. A column vector is transformed with Rz(rz) * Ry(ry) * Rx(rx) before translation is added.

Fields

translation_m: [f64; 3]

Translation (x, y, z) in metres.

rotation_rad: [f64; 3]

Extrinsic fixed-axis (rx, ry, rz) rotation in radians.

Implementations

impl ArrayPose

pub const fn identity() -> Self

Returns the identity rigid transform.

pub const fn from_translation(translation_m: [f64; 3]) -> Self

Creates a pure translation in metres.

pub const fn from_translation_and_extrinsic_xyz_radians( translation_m: [f64; 3], rotation_rad: [f64; 3], ) -> Self

Creates a translation and active extrinsic XYZ rotation in radians.

pub fn from_translation_and_extrinsic_xyz_degrees( translation_m: [f64; 3], rotation_deg: [f64; 3], ) -> Self

Creates a translation and active extrinsic XYZ rotation in degrees.

pub fn validate(&self) -> Result<()>

Validates finite translation and rotation components.

Trait Implementations

impl Clone for ArrayPose

fn clone(&self) -> ArrayPose

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for ArrayPose

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

Formats the value using the given formatter.

impl Default for ArrayPose

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for ArrayPose

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for ArrayPose

fn eq(&self, other: &ArrayPose) -> 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 Serialize for ArrayPose

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for ArrayPose