Struct DPose2 

pub struct DPose2 {
    pub rotation: DRot2,
    pub translation: DVec2,
}

A 2D pose (rotation + translation), representing a rigid body transformation (f64 precision).

Fields

rotation: DRot2

The rotational part of the pose.

translation: DVec2

The translational part of the pose.

Implementations

impl DPose2

pub const IDENTITY: Self

The identity pose (no rotation, no translation).

pub fn identity() -> Self

Creates the identity pose.

pub fn from_translation(translation: DVec2) -> Self

Creates a pose from a translation vector.

pub fn translation(x: f64, y: f64) -> Self

Creates a pose from translation components.

pub fn from_rotation(rotation: DRot2) -> Self

Creates a pose from a rotation.

pub fn rotation(angle: f64) -> Self

Creates a pose that is a pure rotation with the given angle (in radians).

pub fn from_parts(translation: DVec2, rotation: DRot2) -> Self

Creates a pose from translation and rotation parts.

pub fn new(translation: DVec2, angle: f64) -> Self

Creates a pose from translation and angle.

pub fn prepend_translation(self, translation: DVec2) -> Self

Prepends a translation to this pose (applies translation in local frame).

pub fn append_translation(self, translation: DVec2) -> Self

Appends a translation to this pose (applies translation in world frame).

pub fn inverse(&self) -> Self

Returns the inverse of this pose.

pub fn inv_mul(&self, rhs: &Self) -> Self

Computes self.inverse() * rhs.

pub fn transform_point(&self, p: DVec2) -> DVec2

Transforms a 2D point by this pose.

This applies both the rotation and translation.

pub fn transform_vector(&self, v: DVec2) -> DVec2

Transforms a 2D vector by this pose.

This applies only the rotation (ignores translation).

pub fn inverse_transform_point(&self, p: DVec2) -> DVec2

Transforms a point by the inverse of this pose.

pub fn inverse_transform_vector(&self, v: DVec2) -> DVec2

Transforms a vector by the inverse of this pose.

pub fn lerp(&self, other: &Self, t: f64) -> Self

Linearly interpolates between two poses.

Uses spherical linear interpolation for the rotation part.

pub fn is_finite(&self) -> bool

Returns true if, and only if, all elements are finite.

pub fn is_nan(&self) -> bool

Returns true if any element is NaN.

pub fn to_mat3(&self) -> DMat3

Converts this pose to a homogeneous 3x3 matrix.

pub fn from_mat3(mat: DMat3) -> Self

Creates a pose from a homogeneous 3x3 matrix.

The matrix is assumed to represent a rigid body transformation (rotation + translation only, no scaling or shearing).

Trait Implementations

impl AbsDiffEq for DPose2

Available on crate feature approx only.

type Epsilon = f64

Used for specifying relative comparisons.

fn default_epsilon() -> Self::Epsilon

The default tolerance to use when testing values that are close together.

fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool

A test for equality that uses the absolute difference to compute the approximate equality of two numbers.

fn abs_diff_ne(&self, other: &Rhs, epsilon: Self::Epsilon) -> bool

The inverse of AbsDiffEq::abs_diff_eq.

impl Clone for DPose2

fn clone(&self) -> DPose2

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for DPose2

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

Formats the value using the given formatter.

impl Default for DPose2

fn default() -> Self

Returns the “default value” for a type.

impl From<DPose2> for Pose2

fn from(p: DPose2) -> Self

Converts to this type from the input type.

impl From<DRot2> for DPose2

fn from(rotation: DRot2) -> Self

Converts to this type from the input type.

impl From<Pose2> for DPose2

fn from(p: Pose2) -> Self

Converts to this type from the input type.

impl Mul<&DPose2> for &DPose2

type Output = DPose2

The resulting type after applying the * operator.

fn mul(self, rhs: &DPose2) -> Self::Output

Performs the * operation.

impl Mul<&DPose2> for DPose2

type Output = DPose2

The resulting type after applying the * operator.

fn mul(self, rhs: &DPose2) -> Self::Output

Performs the * operation.

impl Mul<&DVec2> for DPose2

type Output = DVec2

The resulting type after applying the * operator.

fn mul(self, rhs: &DVec2) -> Self::Output

Performs the * operation.

impl Mul<DPose2> for &DPose2

type Output = DPose2

The resulting type after applying the * operator.

fn mul(self, rhs: DPose2) -> Self::Output

Performs the * operation.

impl Mul<DPose2> for DRot2

type Output = DPose2

The resulting type after applying the * operator.

fn mul(self, rhs: DPose2) -> Self::Output

Performs the * operation.

impl Mul<DRot2> for DPose2

type Output = DPose2

The resulting type after applying the * operator.

fn mul(self, rhs: DRot2) -> Self::Output

Performs the * operation.

impl Mul<DVec2> for &DPose2

type Output = DVec2

The resulting type after applying the * operator.

fn mul(self, rhs: DVec2) -> Self::Output

Performs the * operation.

impl Mul<DVec2> for DPose2

type Output = DVec2

The resulting type after applying the * operator.

fn mul(self, rhs: DVec2) -> Self::Output

Performs the * operation.

impl Mul for DPose2

type Output = DPose2

The resulting type after applying the * operator.

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

Performs the * operation.

impl MulAssign<DRot2> for DPose2

fn mul_assign(&mut self, rhs: DRot2)

Performs the *= operation.

impl MulAssign for DPose2

fn mul_assign(&mut self, rhs: Self)

Performs the *= operation.

impl PartialEq for DPose2

fn eq(&self, other: &DPose2) -> 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 RelativeEq for DPose2

Available on crate feature approx only.

fn default_max_relative() -> Self::Epsilon

The default relative tolerance for testing values that are far-apart.

fn relative_eq( &self, other: &Self, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

A test for equality that uses a relative comparison if the values are far apart.

fn relative_ne( &self, other: &Rhs, epsilon: Self::Epsilon, max_relative: Self::Epsilon, ) -> bool

The inverse of RelativeEq::relative_eq.

impl Copy for DPose2

impl StructuralPartialEq for DPose2