/// computes the length of the cable including the bit around the pulley

computes the length of the cable including the bit around the pulley
computes the length of the cable including the bit around the pulley
pub fn length(&self, pose: &Pose) -> f32 {
        let tx = F::cst(pose.position[0]);
        let ty = F::cst(pose.position[1]);
        let tz = F::cst(pose.position[2]);
        let axis = pose.orientation.scaled_axis();
        let ux = F::cst(axis[0]);
        let uy = F::cst(axis[1]);
        let uz = F::cst(axis[2]);
        self.calculate_pulley_state(tx, ty, tz, ux, uy, uz).0.x as f32
    }
pub fn length ( & self , pose : & Pose ) -> f32 { let tx = F :: cst ( pose . position [ 0 ] ) ; let ty = F :: cst ( pose . position [ 1 ] ) ; let tz = F :: cst ( pose . position [ 2 ] ) ; let axis = pose . orientation . scaled_axis ( ) ; let ux = F :: cst ( axis [ 0 ] ) ; let uy = F :: cst ( axis [ 1 ] ) ; let uz = F :: cst ( axis [ 2 ] ) ; self . calculate_pulley_state ( tx , ty , tz , ux , uy , uz ) . 0 . x as f32 }
computes the length of the cable including the bit around the pulley
computes the length of the cable including the bit around the pulley
&self
pose
&Pose