Struct FrameTransform 

pub struct FrameTransform {
    pub parent_frame: String,
    pub child_frame: String,
    pub translation_m: [f64; 3],
    pub rotation_xyzw: [f64; 4],
    pub stamp_nanos: Option<u64>,
    pub source_bound: bool,
    pub accepted: bool,
}

One rigid TF edge observed by the source-bound inventory.

Fields

parent_frame: String

Parent frame ID.

child_frame: String

Child frame ID.

translation_m: [f64; 3]

Translation from parent to child in metres.

rotation_xyzw: [f64; 4]

Quaternion in x, y, z, w order.

stamp_nanos: Option<u64>

Transform timestamp, when carried by the source message.

source_bound: bool

Whether this edge belongs to the displayed source.

accepted: bool

Whether this edge is admitted for composition.

Implementations

impl FrameTransform

pub fn try_new( parent_frame: impl Into<String>, child_frame: impl Into<String>, translation_m: [f64; 3], rotation_xyzw: [f64; 4], stamp_nanos: Option<u64>, source_bound: bool, accepted: bool, ) -> ViewerResult<Self>

Creates and validates one rigid transform edge.

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

Validates frame names, finite values, and the acceptance invariant.

Trait Implementations

impl Clone for FrameTransform

fn clone(&self) -> FrameTransform

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for FrameTransform

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for FrameTransform

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for FrameTransform

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

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 FrameTransform