cleaned up imports
This commit is contained in:
Joshua Smith
parent
d8fcbd12f4
commit
7a458cda32
@ -1,6 +1,5 @@
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use crate::{RealField, Rotation, Rotation2, Rotation3, SimdRealField, UnitComplex, UnitQuaternion};
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use crate::{RealField, Rotation, Rotation2, Rotation3, SimdRealField, UnitComplex, UnitQuaternion};
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use crate::{Const, U1, DimSub, DimDiff, Storage, ArrayStorage, Allocator, DefaultAllocator};
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use crate::{Const, U1, DimSub, DimDiff, Storage, ArrayStorage, Allocator, DefaultAllocator};
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use crate::SMatrix;
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/// # Interpolation
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/// # Interpolation
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impl<T: SimdRealField> Rotation2<T> {
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impl<T: SimdRealField> Rotation2<T> {
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@ -32,145 +32,14 @@ fn quaternion_euler_angles_issue_494() {
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#[cfg(feature = "proptest-support")]
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#[cfg(feature = "proptest-support")]
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mod proptest_tests {
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mod proptest_tests {
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use na::{self, Rotation, Rotation2, Rotation3, Unit};
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use na::{self, Rotation, Rotation2, Rotation3, Unit, Vector, Matrix, SMatrix};
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use simba::scalar::RealField;
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use simba::scalar::RealField;
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use num_traits::Zero;
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use std::f64;
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use std::f64;
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use crate::proptest::*;
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use crate::proptest::*;
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use proptest::{prop_assert, prop_assert_eq, proptest};
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use proptest::{prop_assert, prop_assert_eq, proptest};
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//creates N rotation planes and angles
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macro_rules! gen_rotation_planes {
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($($v1:ident, $v2:ident),*) => {
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{
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//make an orthonormal basis
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let mut basis = [$($v1, $v2),*];
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Vector::orthonormalize(&mut basis);
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let [$($v1, $v2),*] = basis;
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//"wedge" the vectors to make an arrary 2-blades representing rotation planes.
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[
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//Since we start with vector pairs, each bivector is guaranteed to be simple
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$($v1.transpose().kronecker(&$v2) - $v2.transpose().kronecker(&$v1)),*
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]
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}
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};
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}
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macro_rules! gen_powf_rotation_test {
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($(
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fn $powf_rot_n:ident($($v:ident in $vec:ident()),*);
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)*) => {
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proptest!{$(
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#[test]
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fn $powf_rot_n(
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$($v in $vec(),)*
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pow in PROPTEST_F64
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) {
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use nalgebra::*;
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//"wedge" the vectors to make an arrary 2-blades representing rotation planes.
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let mut bivectors = gen_rotation_planes!($($v),*);
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//condition the bivectors
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for b in &mut bivectors {
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if let Some((unit, norm)) = Unit::try_new_and_get(*b, 0.0) {
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//every component is duplicated once, so there's an extra factor of
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//sqrt(2) in the norm
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let mut angle = norm / 2.0f64.sqrt();
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angle = na::wrap(angle, -f64::pi(), f64::pi());
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*b = unit.into_inner() * angle * 2.0f64.sqrt();
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}
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}
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let mut bivector = bivectors[0].clone();
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for i in 1..bivectors.len() {
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bivector += bivectors[i];
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}
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let r1 = Rotation::from_matrix_unchecked(bivector.exp()).powf(pow);
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let r2 = Rotation::from_matrix_unchecked((bivector * pow).exp());
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prop_assert!(relative_eq!(r1, r2, epsilon=1e-7));
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}
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)*}
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};
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}
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macro_rules! gen_powf_180deg_rotation_test {
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($(
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fn $powf_rot_n:ident($($v:ident in $vec:ident()),*);
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)*) => {$(
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proptest! {
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#[test]
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fn $powf_rot_n($($v in $vec(),)*) {
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use nalgebra::*;
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use num_traits::Zero;
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use std::f64::consts::PI;
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//an array of tuples with the unit plane and angle
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let plane_angles = gen_rotation_planes!($($v),*).iter().map(
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|b| Unit::try_new_and_get(*b,0.0).map_or_else(
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|| (Matrix::zero(), 0.0),
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|(b,a)| (b.into_inner(), a)
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)
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).collect::<Vec<_>>();
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//loop over every choice of between the original angle and swapping to 180 deg
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let n = plane_angles.len();
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for mask in 0..(1<<n) {
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let mut b = SMatrix::zero();
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for i in 0..n {
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let (bi, ai) = plane_angles[i];
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if mask & (1<<i) != 0 {
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b += PI*bi;
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} else {
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b += ai*bi;
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}
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}
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//makes sure that e^(B/2)^2 == e^B
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let r1 = Rotation::from_matrix_unchecked(b.exp());
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let r2 = Rotation::from_matrix_unchecked((b/2.0).exp());
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prop_assert!(relative_eq!(r1.powf(0.5), r2, epsilon=1e-7));
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}
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}
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}
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)*}
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}
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gen_powf_rotation_test!(
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fn powf_rotation_4(v1 in vector4(), v2 in vector4(), v3 in vector4(), v4 in vector4());
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fn powf_rotation_5(v1 in vector5(), v2 in vector5(), v3 in vector5(), v4 in vector5());
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fn powf_rotation_6(
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v1 in vector6(), v2 in vector6(),
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v3 in vector6(), v4 in vector6(),
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v5 in vector6(), v6 in vector6()
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);
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);
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gen_powf_180deg_rotation_test!(
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fn powf_180deg_rotation_2(v1 in vector2(), v2 in vector2());
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fn powf_180deg_rotation_3(v1 in vector3(), v2 in vector3());
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fn powf_180deg_rotation_4(v1 in vector4(), v2 in vector4(), v3 in vector4(), v4 in vector4());
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fn powf_180deg_rotation_5(v1 in vector5(), v2 in vector5(), v3 in vector5(), v4 in vector5());
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fn powf_180deg_rotation_6(
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v1 in vector6(), v2 in vector6(),
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v3 in vector6(), v4 in vector6(),
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v5 in vector6(), v6 in vector6()
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);
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);
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proptest! {
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proptest! {
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/*
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/*
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*
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*
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@ -363,4 +232,132 @@ mod proptest_tests {
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}
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}
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}
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}
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//creates N rotation planes and angles
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macro_rules! gen_rotation_planes {
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($($v1:ident, $v2:ident),*) => {
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{
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//make an orthonormal basis
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let mut basis = [$($v1, $v2),*];
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Vector::orthonormalize(&mut basis);
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let [$($v1, $v2),*] = basis;
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//"wedge" the vectors to make an arrary 2-blades representing rotation planes.
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[
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//Since we start with vector pairs, each bivector is guaranteed to be simple
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$($v1.transpose().kronecker(&$v2) - $v2.transpose().kronecker(&$v1)),*
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]
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}
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};
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}
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macro_rules! gen_powf_rotation_test {
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($(
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fn $powf_rot_n:ident($($v:ident in $vec:ident()),*);
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)*) => {
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proptest!{$(
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#[test]
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fn $powf_rot_n(
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$($v in $vec(),)*
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pow in PROPTEST_F64
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) {
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//"wedge" the vectors to make an arrary 2-blades representing rotation planes.
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let mut bivectors = gen_rotation_planes!($($v),*);
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//condition the bivectors
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for b in &mut bivectors {
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if let Some((unit, norm)) = Unit::try_new_and_get(*b, 0.0) {
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//every component is duplicated once, so there's an extra factor of
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//sqrt(2) in the norm
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let mut angle = norm / 2.0f64.sqrt();
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angle = na::wrap(angle, -f64::pi(), f64::pi());
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*b = unit.into_inner() * angle * 2.0f64.sqrt();
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}
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}
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let mut bivector = bivectors[0].clone();
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for i in 1..bivectors.len() {
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bivector += bivectors[i];
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}
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let r1 = Rotation::from_matrix_unchecked(bivector.exp()).powf(pow);
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let r2 = Rotation::from_matrix_unchecked((bivector * pow).exp());
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prop_assert!(relative_eq!(r1, r2, epsilon=1e-7));
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}
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)*}
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};
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}
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macro_rules! gen_powf_180deg_rotation_test {
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($(
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fn $powf_rot_n:ident($($v:ident in $vec:ident()),*);
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)*) => {$(
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proptest! {
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#[test]
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fn $powf_rot_n($($v in $vec(),)*) {
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use std::f64::consts::PI;
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//an array of tuples with the unit plane and angle
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let plane_angles = gen_rotation_planes!($($v),*).iter().map(
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|b| Unit::try_new_and_get(*b,0.0).map_or_else(
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|| (Matrix::zero(), 0.0),
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|(b,a)| (b.into_inner(), a)
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)
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).collect::<Vec<_>>();
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//loop over every choice of between the original angle and swapping to 180 deg
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let n = plane_angles.len();
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for mask in 0..(1<<n) {
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let mut b = SMatrix::zero();
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for i in 0..n {
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let (bi, ai) = plane_angles[i];
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if mask & (1<<i) != 0 {
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b += PI*bi;
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} else {
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b += ai*bi;
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}
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}
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//makes sure that e^(B/2)^2 == e^B
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let r1 = Rotation::from_matrix_unchecked(b.exp());
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let r2 = Rotation::from_matrix_unchecked((b/2.0).exp());
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prop_assert!(relative_eq!(r1.powf(0.5), r2, epsilon=1e-7));
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}
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}
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}
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)*}
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}
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gen_powf_rotation_test!(
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fn powf_rotation_4(v1 in vector4(), v2 in vector4(), v3 in vector4(), v4 in vector4());
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fn powf_rotation_5(v1 in vector5(), v2 in vector5(), v3 in vector5(), v4 in vector5());
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fn powf_rotation_6(
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v1 in vector6(), v2 in vector6(),
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v3 in vector6(), v4 in vector6(),
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v5 in vector6(), v6 in vector6()
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);
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);
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gen_powf_180deg_rotation_test!(
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fn powf_180deg_rotation_2(v1 in vector2(), v2 in vector2());
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fn powf_180deg_rotation_3(v1 in vector3(), v2 in vector3());
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fn powf_180deg_rotation_4(v1 in vector4(), v2 in vector4(), v3 in vector4(), v4 in vector4());
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fn powf_180deg_rotation_5(v1 in vector5(), v2 in vector5(), v3 in vector5(), v4 in vector5());
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fn powf_180deg_rotation_6(
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v1 in vector6(), v2 in vector6(),
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v3 in vector6(), v4 in vector6(),
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v5 in vector6(), v6 in vector6()
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);
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);
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}
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}
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