Struct Rotation 

pub struct Rotation { /* private fields */ }

A 3-dimensional rotation in the road network. This struct represents a rotation in the road network, which can be defined using a quaternion or roll-pitch-yaw angles. It provides methods to create a rotation, convert between representations, and apply the rotation to an inertial position.

Implementations

impl Rotation

pub fn new() -> Rotation

Create a new Rotation.

pub fn from_quat(q: &Quaternion) -> Rotation

Create a new Rotation from a Quaternion.

pub fn from_rpy(rpy: &RollPitchYaw) -> Rotation

Create a new Rotation from a RollPitchYaw.

pub fn roll(&self) -> f64

Get the roll of the Rotation.

pub fn pitch(&self) -> f64

Get the pitch of the Rotation.

pub fn yaw(&self) -> f64

Get the yaw of the Rotation.

pub fn quat(&self) -> Quaternion

Get a quaternion representation of the Rotation.

pub fn rpy(&self) -> RollPitchYaw

Get a roll-pitch-yaw representation of the Rotation.

pub fn set_quat(&mut self, q: &Quaternion)

Set the Rotation from a Quaternion.

pub fn matrix(&self) -> Matrix3

Get the matrix representation of the Rotation.

pub fn distance(&self, other: &Rotation) -> f64

Get the distance between two Rotation.

pub fn apply(&self, v: &InertialPosition) -> InertialPosition

Apply the Rotation to an InertialPosition.

pub fn reverse(&self) -> Rotation

Get the reverse of the Rotation.

Trait Implementations

impl Default for Rotation

fn default() -> Self

Returns the “default value” for a type.