Enum StateValue 

pub enum StateValue {
    Number(Scalar),
    Pose(Pose),
}

A value of a part’s state: a number or a pose. Serialized as itself — 2.5, {"position": [...], "rotation": [...]}.

Variants

Number(Scalar)

Pose(Pose)

Trait Implementations

impl Clone for StateValue

fn clone(&self) -> StateValue

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for StateValue

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

Formats the value using the given formatter.

impl Default for StateValue

A value the run gives none of reads as the number zero.

fn default() -> Self

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for StateValue

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for StateValue

fn eq(&self, other: &StateValue) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for StateValue

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 StateValue

impl Variable for StateValue

A number steps by what is added to it; a pose by a twist (ω, v) in its own frame — turning about its own origin, and moving along its own axes — by the exponential map: pose ∘ exp(ω, v) (see Pose’s steps).

fn stay(&self, at: &Self, scale: Scalar) -> GeopResult<Rows>

A number its difference from at; a pose its position’s, and its rotation’s — a turn as the distance it moves a point scale from its axis (see Pose’s).

fn same(&self, other: &Self) -> bool

The same enclosure: what tells a step that changed nothing.

fn carried(&self, from: &Self, to: &Self) -> Option<Self>

A pose by a pose, as poses are (see Pose’s); a number by nothing.

fn dimension(&self) -> usize

How many numbers a step of it takes. None, for a value no solve moves.

fn retract(&self, step: &[Scalar]) -> GeopResult<Self>

Where step — Variable::dimension numbers — takes it: the value a solver tries next, a free choice, so sharp.

fn retract_over(&self, step: &[Scalar]) -> GeopResult<Self>

Every value a step in the box step takes it to: an enclosure, nothing sharpened — of the value it stands for, which a sharp value may only approximate (a rotation’s unit quaternion).

fn differential(&self, step: &[Scalar]) -> GeopResult<Option<Vec<Vec<Scalar>>>>

The differential of the retraction over the box step: the matrix D, one row per number of a step, such that for every δ in the box a step dδ further, retract(δ + dδ), is to first order the step D dδ from retract(δ) — an enclosure for every δ in the box. None for the identity: a step that adds to the value.