Fix doctests broken by 35d2381a2a
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0d47a8e16b
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2595db1607
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@ -156,7 +156,7 @@ impl<N: Real> Quaternion<N> {
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/// let inv_q = q.try_inverse();
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/// let inv_q = q.try_inverse();
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///
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///
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/// assert!(inv_q.is_some());
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/// assert!(inv_q.is_some());
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/// assert_relative_eq!(inv_q.into_inner() * q, Quaternion::identity());
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/// assert_relative_eq!(inv_q.unwrap() * q, Quaternion::identity());
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///
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///
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/// //Non-invertible case
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/// //Non-invertible case
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/// let q = Quaternion::new(0.0, 0.0, 0.0, 0.0);
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/// let q = Quaternion::new(0.0, 0.0, 0.0, 0.0);
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@ -914,7 +914,7 @@ impl<N: Real> UnitQuaternion<N> {
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/// let angle = 1.2;
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/// let angle = 1.2;
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/// let rot = UnitQuaternion::from_axis_angle(&axis, angle);
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/// let rot = UnitQuaternion::from_axis_angle(&axis, angle);
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/// let pow = rot.powf(2.0);
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/// let pow = rot.powf(2.0);
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/// assert_relative_eq!(pow.axis().into_inner(), axis, epsilon = 1.0e-6);
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/// assert_relative_eq!(pow.axis().unwrap(), axis, epsilon = 1.0e-6);
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/// assert_eq!(pow.angle(), 2.4);
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/// assert_eq!(pow.angle(), 2.4);
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/// ```
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/// ```
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#[inline]
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#[inline]
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@ -176,7 +176,7 @@ impl<N: Real> UnitQuaternion<N> {
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/// let vec = Vector3::new(4.0, 5.0, 6.0);
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/// let vec = Vector3::new(4.0, 5.0, 6.0);
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/// let q = UnitQuaternion::from_axis_angle(&axis, angle);
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/// let q = UnitQuaternion::from_axis_angle(&axis, angle);
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///
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///
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/// assert_eq!(q.axis().into_inner(), axis);
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/// assert_eq!(q.axis().unwrap(), axis);
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/// assert_eq!(q.angle(), angle);
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/// assert_eq!(q.angle(), angle);
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/// assert_relative_eq!(q * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
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/// assert_relative_eq!(q * pt, Point3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
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/// assert_relative_eq!(q * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
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/// assert_relative_eq!(q * vec, Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
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@ -244,7 +244,7 @@ impl<N: Real> UnitQuaternion<N> {
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/// let rot = Rotation3::from_axis_angle(&axis, angle);
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/// let rot = Rotation3::from_axis_angle(&axis, angle);
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/// let q = UnitQuaternion::from_rotation_matrix(&rot);
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/// let q = UnitQuaternion::from_rotation_matrix(&rot);
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/// assert_relative_eq!(q.to_rotation_matrix(), rot, epsilon = 1.0e-6);
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/// assert_relative_eq!(q.to_rotation_matrix(), rot, epsilon = 1.0e-6);
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/// assert_relative_eq!(q.axis().into_inner(), rot.axis().into_inner(), epsilon = 1.0e-6);
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/// assert_relative_eq!(q.axis().unwrap(), rot.axis().unwrap(), epsilon = 1.0e-6);
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/// assert_relative_eq!(q.angle(), rot.angle(), epsilon = 1.0e-6);
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/// assert_relative_eq!(q.angle(), rot.angle(), epsilon = 1.0e-6);
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/// ```
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/// ```
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#[inline]
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#[inline]
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@ -306,7 +306,7 @@ impl<N: Real> UnitQuaternion<N> {
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/// # use nalgebra::{Vector3, UnitQuaternion};
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/// # use nalgebra::{Vector3, UnitQuaternion};
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/// let a = Vector3::new(1.0, 2.0, 3.0);
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/// let a = Vector3::new(1.0, 2.0, 3.0);
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/// let b = Vector3::new(3.0, 1.0, 2.0);
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/// let b = Vector3::new(3.0, 1.0, 2.0);
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/// let q = UnitQuaternion::rotation_between(&a, &b).into_inner();
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/// let q = UnitQuaternion::rotation_between(&a, &b).unwrap();
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/// assert_relative_eq!(q * a, b);
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/// assert_relative_eq!(q * a, b);
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/// assert_relative_eq!(q.inverse() * b, a);
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/// assert_relative_eq!(q.inverse() * b, a);
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/// ```
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/// ```
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@ -329,8 +329,8 @@ impl<N: Real> UnitQuaternion<N> {
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/// # use nalgebra::{Vector3, UnitQuaternion};
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/// # use nalgebra::{Vector3, UnitQuaternion};
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/// let a = Vector3::new(1.0, 2.0, 3.0);
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/// let a = Vector3::new(1.0, 2.0, 3.0);
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/// let b = Vector3::new(3.0, 1.0, 2.0);
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/// let b = Vector3::new(3.0, 1.0, 2.0);
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/// let q2 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.2).into_inner();
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/// let q2 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.2).unwrap();
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/// let q5 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.5).into_inner();
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/// let q5 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.5).unwrap();
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/// assert_relative_eq!(q2 * q2 * q2 * q2 * q2 * a, b, epsilon = 1.0e-6);
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/// assert_relative_eq!(q2 * q2 * q2 * q2 * q2 * a, b, epsilon = 1.0e-6);
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/// assert_relative_eq!(q5 * q5 * a, b, epsilon = 1.0e-6);
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/// assert_relative_eq!(q5 * q5 * a, b, epsilon = 1.0e-6);
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/// ```
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/// ```
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@ -365,7 +365,7 @@ impl<N: Real> UnitQuaternion<N> {
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/// # use nalgebra::{Unit, Vector3, UnitQuaternion};
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/// # use nalgebra::{Unit, Vector3, UnitQuaternion};
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/// let a = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
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/// let a = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
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/// let b = Unit::new_normalize(Vector3::new(3.0, 1.0, 2.0));
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/// let b = Unit::new_normalize(Vector3::new(3.0, 1.0, 2.0));
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/// let q = UnitQuaternion::rotation_between(&a, &b).into_inner();
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/// let q = UnitQuaternion::rotation_between(&a, &b).unwrap();
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/// assert_relative_eq!(q * a, b);
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/// assert_relative_eq!(q * a, b);
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/// assert_relative_eq!(q.inverse() * b, a);
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/// assert_relative_eq!(q.inverse() * b, a);
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/// ```
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/// ```
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@ -391,8 +391,8 @@ impl<N: Real> UnitQuaternion<N> {
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/// # use nalgebra::{Unit, Vector3, UnitQuaternion};
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/// # use nalgebra::{Unit, Vector3, UnitQuaternion};
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/// let a = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
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/// let a = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
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/// let b = Unit::new_normalize(Vector3::new(3.0, 1.0, 2.0));
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/// let b = Unit::new_normalize(Vector3::new(3.0, 1.0, 2.0));
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/// let q2 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.2).into_inner();
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/// let q2 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.2).unwrap();
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/// let q5 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.5).into_inner();
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/// let q5 = UnitQuaternion::scaled_rotation_between(&a, &b, 0.5).unwrap();
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/// assert_relative_eq!(q2 * q2 * q2 * q2 * q2 * a, b, epsilon = 1.0e-6);
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/// assert_relative_eq!(q2 * q2 * q2 * q2 * q2 * a, b, epsilon = 1.0e-6);
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/// assert_relative_eq!(q5 * q5 * a, b, epsilon = 1.0e-6);
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/// assert_relative_eq!(q5 * q5 * a, b, epsilon = 1.0e-6);
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/// ```
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/// ```
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