From 7a43827bb757160068847deba5a86454587b1b08 Mon Sep 17 00:00:00 2001
From: Joshua Smith <jsmith62831@gmail.com>
Date: Tue, 29 Mar 2022 11:56:31 -0500
Subject: [PATCH] added docs to slerp and powf for Rotation

---
 src/geometry/rotation_interpolation.rs  | 17 ++++++++++++++++-
 src/geometry/rotation_specialization.rs | 18 +++++++++++++++++-
 2 files changed, 33 insertions(+), 2 deletions(-)

diff --git a/src/geometry/rotation_interpolation.rs b/src/geometry/rotation_interpolation.rs
index ff81ab69..7d475dc7 100644
--- a/src/geometry/rotation_interpolation.rs
+++ b/src/geometry/rotation_interpolation.rs
@@ -89,11 +89,26 @@ impl<T:RealField, const D: usize> Rotation<T,D> where
         Allocator<T,DimDiff<Const<D>,U1>>
 {
 
+    ///
+    /// Computes the spherical linear interpolation between two general rotations.
+    ///
+    /// # Examples:
+    ///
+    /// ```
+    /// # use nalgebra::geometry::Rotation3;
+    ///
+    /// let q1 = Rotation3::from_euler_angles(std::f32::consts::FRAC_PI_4, 0.0, 0.0);
+    /// let q2 = Rotation3::from_euler_angles(-std::f32::consts::PI, 0.0, 0.0);
+    ///
+    /// let q = q1.slerp(&q2, 1.0 / 3.0);
+    ///
+    /// assert_eq!(q.euler_angles(), (std::f32::consts::FRAC_PI_2, 0.0, 0.0));
+    /// ```
+    ///
     //FIXME: merging slerp for Rotation2 and Rotation3 into this raises the trait bounds
     //from SimdRealField to RealField
     #[inline]
     #[must_use]
-    #[warn(missing_docs)]
     pub fn slerp(&self, other: &Self, t:T) -> Self {
 
         use std::mem::transmute;
diff --git a/src/geometry/rotation_specialization.rs b/src/geometry/rotation_specialization.rs
index d3104c36..40fe5b12 100644
--- a/src/geometry/rotation_specialization.rs
+++ b/src/geometry/rotation_specialization.rs
@@ -1010,8 +1010,24 @@ where
 impl<T:RealField, const D: usize> Rotation<T,D>
 {
 
+    ///
+    /// Raise the rotation to a given floating power, i.e., returns the rotation with the same
+    /// axis as `self` and an angle equal to `self.angle()` multiplied by `n`.
+    ///
+    /// # Example
+    /// ```
+    /// # #[macro_use] extern crate approx;
+    /// # use nalgebra::{Rotation3, Vector3, Unit};
+    ///
+    /// let axis = Unit::new_normalize(Vector3::new(1.0, 2.0, 3.0));
+    /// let angle = 1.2;
+    /// let rot = Rotation3::from_axis_angle(&axis, angle);
+    /// let pow = rot.powf(2.0);
+    ///
+    /// assert_relative_eq!(pow.axis().unwrap(), axis, epsilon = 1.0e-6);
+    /// assert_eq!(pow.angle(), 2.4);
+    /// ```
     //FIXME: merging powf for Rotation2 into this raises the trait bounds from SimdRealField to RealField
-    #[warn(missing_docs)]
     pub fn powf(&self, t: T) -> Self where
         Const<D>: DimSub<U1>,
         ArrayStorage<T,D,D>: Storage<T,Const<D>,Const<D>>,