Rigidity is the required force to produce a unit incrementum of length.
In prismatic beams, the product of EA is known as axial rigidity.
\delta = \frac{PL}{EA}
where \delta is the change in length, P is the force applied at the centroid, L is the original length, E is the modulus of elasticity (assuming the material is at the elastic-linear region) and A is the cross sectional area. Of course this is for Homogenous materials.
In general the rigidity will be a measure of a structural member "opposing the change in length", with rigidity it's often used flexibility, which is inverse to the rigidity.