pub fn segments(&self, pose: &Pose) -> Vec<(Vector3<f32>, Vector3<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).1
    }
/// calculates the current state of this cable from the current pose of
/// the robot and 

calculates the current state of this cable from the current pose of
the robot and
calculates the current state of this cable from the current pose of the robot and
pub fn segments(&self, pose: &Pose) -> Vec<(Vector3<f32>, Vector3<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).1
    }
pub fn segments ( & self , pose : & Pose ) -> Vec < ( Vector3 < f32 > , Vector3 < 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 ) . 1 }
calculates the current state of this cable from the current pose of
the robot and
calculates the current state of this cable from the current pose of the robot and
&self
pose
&Pose
&self
pose
&Pose