cargo fmt
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@ -760,9 +760,14 @@ where
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// Perturb until the new norm is significantly different
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loop {
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perturbed *= Rotation3::from_axis_angle(&perturbation_axes, eps_disturbance.clone());
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perturbed *=
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Rotation3::from_axis_angle(&perturbation_axes, eps_disturbance.clone());
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new_norm_squared = (m - &perturbed).norm_squared();
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if abs_diff_ne!(norm_squared, new_norm_squared, epsilon = T::default_epsilon()) {
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if abs_diff_ne!(
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norm_squared,
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new_norm_squared,
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epsilon = T::default_epsilon()
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) {
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break;
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}
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}
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@ -34,11 +34,7 @@ fn from_rotation_matrix() {
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);
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// Test that issue 627 is fixed
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let m_627 = Matrix3::<f64>::new(-1.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0);
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assert_relative_ne!(
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identity,
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Rotation3::from_matrix(&m_627),
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epsilon = 0.01
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);
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assert_relative_ne!(identity, Rotation3::from_matrix(&m_627), epsilon = 0.01);
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assert_relative_eq!(
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Rotation3::from_matrix_unchecked(m_627.clone()),
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Rotation3::from_matrix(&m_627),
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@ -46,11 +42,7 @@ fn from_rotation_matrix() {
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);
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// Test that issue 1078 is fixed
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let m_1078 = Matrix3::<f64>::new(0.0, 0.0, 1.0, 0.0, -1.0, 0.0, 1.0, 0.0, 0.0);
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assert_relative_ne!(
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identity,
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Rotation3::from_matrix(&m_1078),
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epsilon = 0.01
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);
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assert_relative_ne!(identity, Rotation3::from_matrix(&m_1078), epsilon = 0.01);
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assert_relative_eq!(
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Rotation3::from_matrix_unchecked(m_1078.clone()),
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Rotation3::from_matrix(&m_1078),
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