# Struct euclid::rigid::RigidTransform3D

``````#[repr(C)]pub struct RigidTransform3D<T, Src, Dst> {
pub rotation: Rotation3D<T, Src, Dst>,
pub translation: Vector3D<T, Dst>,
}``````
Expand description

A rigid transformation. All lengths are preserved under such a transformation.

Internally, this is a rotation and a translation, with the rotation applied first (i.e. `Rotation * Translation`, in row-vector notation)

This can be more efficient to use over full matrices, especially if you have to deal with the decomposed quantities often.

## Fields§

§`rotation: Rotation3D<T, Src, Dst>`§`translation: Vector3D<T, Dst>`

## Implementations§

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### impl<T, Src, Dst> RigidTransform3D<T, Src, Dst>

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#### pub const fn new(    rotation: Rotation3D<T, Src, Dst>,    translation: Vector3D<T, Dst>) -> Self

Construct a new rigid transformation, where the `rotation` applies first

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### impl<T: Real + ApproxEq<T>, Src, Dst> RigidTransform3D<T, Src, Dst>

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#### pub fn identity() -> Self

Construct an identity transform

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#### pub fn new_from_reversed(    translation: Vector3D<T, Src>,    rotation: Rotation3D<T, Src, Dst>) -> Self

Construct a new rigid transformation, where the `translation` applies first

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#### pub fn decompose_reversed(&self) -> (Vector3D<T, Src>, Rotation3D<T, Src, Dst>)

Decompose this into a translation and an rotation to be applied in the opposite order

i.e., the translation is applied first

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#### pub fn then<Dst2>(    &self,    other: &RigidTransform3D<T, Dst, Dst2>) -> RigidTransform3D<T, Src, Dst2>

Returns the multiplication of the two transforms such that other’s transformation applies after self’s transformation.

i.e., this produces `self * other` in row-vector notation

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#### pub fn inverse(&self) -> RigidTransform3D<T, Dst, Src>

Inverts the transformation

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#### pub fn to_untyped(&self) -> RigidTransform3D<T, UnknownUnit, UnknownUnit>

Drop the units, preserving only the numeric value.

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#### pub fn from_untyped(    transform: &RigidTransform3D<T, UnknownUnit, UnknownUnit>) -> Self

Tag a unitless value with units.

## Trait Implementations§

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### impl<T: Clone, Src, Dst> Clone for RigidTransform3D<T, Src, Dst>

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#### fn clone(&self) -> Self

Returns a copy of the value. Read more
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#### fn clone_from(&mut self, source: &Self)

Performs copy-assignment from `source`. Read more
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### impl<T: Debug, Src: Debug, Dst: Debug> Debug for RigidTransform3D<T, Src, Dst>

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

Formats the value using the given formatter. Read more
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### impl<'de, T, Src, Dst> Deserialize<'de> for RigidTransform3D<T, Src, Dst>where    T: Deserialize<'de>,    Src: Deserialize<'de>,    Dst: Deserialize<'de>,

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#### fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>where    __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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### impl<T: Real + ApproxEq<T>, Src, Dst> From<Rotation3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>

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#### fn from(rot: Rotation3D<T, Src, Dst>) -> Self

Converts to this type from the input type.
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### impl<T: Real + ApproxEq<T>, Src, Dst> From<Vector3D<T, Dst>> for RigidTransform3D<T, Src, Dst>

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#### fn from(t: Vector3D<T, Dst>) -> Self

Converts to this type from the input type.
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### impl<T: Hash, Src: Hash, Dst: Hash> Hash for RigidTransform3D<T, Src, Dst>

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#### fn hash<__H: Hasher>(&self, state: &mut __H)

Feeds this value into the given `Hasher`. Read more
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#### fn hash_slice<H>(data: &[Self], state: &mut H)where    H: Hasher,    Self: Sized,

Feeds a slice of this type into the given `Hasher`. Read more
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### impl<T: PartialEq, Src: PartialEq, Dst: PartialEq> PartialEq<RigidTransform3D<T, Src, Dst>> for RigidTransform3D<T, Src, Dst>

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#### fn eq(&self, other: &RigidTransform3D<T, Src, Dst>) -> bool

This method tests for `self` and `other` values to be equal, and is used by `==`.
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#### fn ne(&self, other: &Rhs) -> bool

This method tests for `!=`. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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### impl<T, Src, Dst> Serialize for RigidTransform3D<T, Src, Dst>where    T: Serialize,    Src: Serialize,    Dst: Serialize,

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#### fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>where    __S: Serializer,

Serialize this value into the given Serde serializer. Read more
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## Blanket Implementations§

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### impl<T> Any for Twhere    T: 'static + ?Sized,

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#### fn type_id(&self) -> TypeId

Gets the `TypeId` of `self`. Read more
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### impl<T> Borrow<T> for Twhere    T: ?Sized,

const: unstable · source§

#### fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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### impl<T> BorrowMut<T> for Twhere    T: ?Sized,

const: unstable · source§

#### fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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### impl<T> From<T> for T

const: unstable · source§

#### fn from(t: T) -> T

Returns the argument unchanged.

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### impl<T, U> Into<U> for Twhere    U: From<T>,

const: unstable · source§

#### fn into(self) -> U

Calls `U::from(self)`.

That is, this conversion is whatever the implementation of `From<T> for U` chooses to do.

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### impl<T> ToOwned for Twhere    T: Clone,

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#### type Owned = T

The resulting type after obtaining ownership.
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#### fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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#### fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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### impl<T, U> TryFrom<U> for Twhere    U: Into<T>,

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#### type Error = Infallible

The type returned in the event of a conversion error.
const: unstable · source§

#### fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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### impl<T, U> TryInto<U> for Twhere    U: TryFrom<T>,

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#### type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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#### fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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