Struct SE3

pub struct SE3<T: RealField> {
    pub xyz: Vector3<T>,
    pub rot: SO3<T>,
}

Fields

xyz: Vector3<T>

rot: SO3<T>

Implementations

impl<T: RealField> SE3<T>

pub fn from_vec(qxyzw_txyz: DVectorView<'_, T>) -> Self

[qx, qy, qz, qw, tx, ty, tz]

pub fn from_qvec_tvec( qxyzw: DVectorView<'_, T>, tvec: DVectorView<'_, T>, ) -> Self

pub fn identity() -> Self

pub fn exp(xi: DVectorView<'_, T>) -> Self

pub fn log(&self) -> DVector<T>

pub fn to_dvec(&self) -> DVector<T>

pub fn cast<U: RealField + SupersetOf<T>>(&self) -> SE3<U>

pub fn inverse(&self) -> Self

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

Trait Implementations

impl<T: RealField> Mul<Matrix<T, Const<3>, Const<1>, ViewStorage<'_, T, Const<3>, Const<1>, Const<1>, Const<3>>>> for &SE3<T>

type Output = Matrix<T, Const<3>, Const<1>, ArrayStorage<T, 3, 1>>

The resulting type after applying the * operator.

fn mul(self, rhs: VectorView3<'_, T>) -> Self::Output

Performs the * operation.

impl<T: RealField> Mul<Matrix<T, Const<3>, Const<1>, ViewStorage<'_, T, Const<3>, Const<1>, Const<1>, Const<3>>>> for SE3<T>

type Output = Matrix<T, Const<3>, Const<1>, ArrayStorage<T, 3, 1>>

The resulting type after applying the * operator.

fn mul(self, rhs: VectorView3<'_, T>) -> Self::Output

Performs the * operation.

impl<T: RealField> Mul for &SE3<T>

type Output = SE3<T>

The resulting type after applying the * operator.

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

Performs the * operation.

impl<T: RealField> Mul for SE3<T>

type Output = SE3<T>

The resulting type after applying the * operator.

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

Performs the * operation.