Struct Pose2 

pub struct Pose2 {
    pub rotation: Rot2,
    pub translation: Vec2,
}

A 2D pose (rotation + translation), representing a rigid body transformation (f32 precision).

Fields

rotation: Rot2

The rotational part of the pose.

translation: Vec2

The translational part of the pose.

Implementations

impl Pose2

pub const IDENTITY: Pose2

The identity pose (no rotation, no translation).

pub fn identity() -> Pose2

Creates the identity pose.

pub fn from_translation(translation: Vec2) -> Pose2

Creates a pose from a translation vector.

pub fn translation(x: f32, y: f32) -> Pose2

Creates a pose from translation components.

pub fn from_rotation(rotation: Rot2) -> Pose2

Creates a pose from a rotation.

pub fn rotation(angle: f32) -> Pose2

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

pub fn from_parts(translation: Vec2, rotation: Rot2) -> Pose2

Creates a pose from translation and rotation parts.

pub fn new(translation: Vec2, angle: f32) -> Pose2

Creates a pose from translation and angle.

pub fn prepend_translation(self, translation: Vec2) -> Pose2

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

pub fn append_translation(self, translation: Vec2) -> Pose2

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

pub fn inverse(&self) -> Pose2

Returns the inverse of this pose.

pub fn inv_mul(&self, rhs: &Pose2) -> Pose2

Computes self.inverse() * rhs.

pub fn transform_point(&self, p: Vec2) -> Vec2

Transforms a 2D point by this pose.

This applies both the rotation and translation.

pub fn transform_vector(&self, v: Vec2) -> Vec2

Transforms a 2D vector by this pose.

This applies only the rotation (ignores translation).

pub fn inverse_transform_point(&self, p: Vec2) -> Vec2

Transforms a point by the inverse of this pose.

pub fn inverse_transform_vector(&self, v: Vec2) -> Vec2

Transforms a vector by the inverse of this pose.

pub fn lerp(&self, other: &Pose2, t: f32) -> Pose2

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) -> Mat3

Converts this pose to a homogeneous 3x3 matrix.

pub fn from_mat3(mat: Mat3) -> Pose2

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 Pose2

type Epsilon = f32

Used for specifying relative comparisons.

fn default_epsilon() -> <Pose2 as AbsDiffEq>::Epsilon

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

fn abs_diff_eq( &self, other: &Pose2, epsilon: <Pose2 as AbsDiffEq>::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 Pose2

fn clone(&self) -> Pose2

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Pose2

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

Formats the value using the given formatter.

impl Default for Pose2

fn default() -> Pose2

Returns the “default value” for a type.

impl From<DPose2> for Pose2

fn from(p: DPose2) -> Pose2

Converts to this type from the input type.

impl From<Rot2> for Pose2

fn from(rotation: Rot2) -> Pose2

Converts to this type from the input type.

impl Mul<&Pose2> for &Pose2

type Output = Pose2

The resulting type after applying the * operator.

fn mul(self, rhs: &Pose2) -> <&Pose2 as Mul<&Pose2>>::Output

Performs the * operation.

impl Mul<&Pose2> for Pose2

type Output = Pose2

The resulting type after applying the * operator.

fn mul(self, rhs: &Pose2) -> <Pose2 as Mul<&Pose2>>::Output

Performs the * operation.

impl Mul<&Vec2> for Pose2

type Output = Vec2

The resulting type after applying the * operator.

fn mul(self, rhs: &Vec2) -> <Pose2 as Mul<&Vec2>>::Output

Performs the * operation.

impl Mul<Pose2> for &Pose2

type Output = Pose2

The resulting type after applying the * operator.

fn mul(self, rhs: Pose2) -> <&Pose2 as Mul<Pose2>>::Output

Performs the * operation.

impl Mul<Pose2> for Rot2

type Output = Pose2

The resulting type after applying the * operator.

fn mul(self, rhs: Pose2) -> <Rot2 as Mul<Pose2>>::Output

Performs the * operation.

impl Mul<Rot2> for Pose2

type Output = Pose2

The resulting type after applying the * operator.

fn mul(self, rhs: Rot2) -> <Pose2 as Mul<Rot2>>::Output

Performs the * operation.

impl Mul<Vec2> for &Pose2

type Output = Vec2

The resulting type after applying the * operator.

fn mul(self, rhs: Vec2) -> <&Pose2 as Mul<Vec2>>::Output

Performs the * operation.

impl Mul<Vec2> for Pose2

type Output = Vec2

The resulting type after applying the * operator.

fn mul(self, rhs: Vec2) -> <Pose2 as Mul<Vec2>>::Output

Performs the * operation.

impl Mul for Pose2

type Output = Pose2

The resulting type after applying the * operator.

fn mul(self, rhs: Pose2) -> <Pose2 as Mul>::Output

Performs the * operation.

impl MulAssign<Rot2> for Pose2

fn mul_assign(&mut self, rhs: Rot2)

Performs the *= operation.

impl MulAssign for Pose2

fn mul_assign(&mut self, rhs: Pose2)

Performs the *= operation.

impl PartialEq for Pose2

fn eq(&self, other: &Pose2) -> 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 Pose2

fn default_max_relative() -> <Pose2 as AbsDiffEq>::Epsilon

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

fn relative_eq( &self, other: &Pose2, epsilon: <Pose2 as AbsDiffEq>::Epsilon, max_relative: <Pose2 as AbsDiffEq>::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 Pose2

impl StructuralPartialEq for Pose2