M-Labs
/
nalgebra
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Complete doc-tests of rotation.rs.

This commit is contained in:
sebcrozet 2018-11-04 07:17:24 +01:00 committed by Sébastien Crozet
parent c24caa311f
commit 7d9d47d9ea
1 changed files with 64 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

64
src/geometry/rotation.rs
View File

@ -240,6 +240,24 @@ where DefaultAllocator: Allocator<N, D, D>
}
/// Transposes `self`.
///
/// Same as `.inverse()` because the inverse of a rotation matrix is its transform.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use nalgebra::{Rotation2, Rotation3, Vector3};
/// let rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
/// let tr_rot = rot.transpose();
/// assert_relative_eq!(rot * tr_rot, Rotation3::identity(), epsilon = 1.0e-6);
/// assert_relative_eq!(tr_rot * rot, Rotation3::identity(), epsilon = 1.0e-6);
///
/// let rot = Rotation2::new(1.2);
/// let tr_rot = rot.transpose();
/// assert_relative_eq!(rot * tr_rot, Rotation2::identity(), epsilon = 1.0e-6);
/// assert_relative_eq!(tr_rot * rot, Rotation2::identity(), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn transpose(&self) -> Rotation<N, D> {
Rotation::from_matrix_unchecked(self.matrix.transpose())
@ -247,6 +265,8 @@ where DefaultAllocator: Allocator<N, D, D>
/// Inverts `self`.
///
/// Same as `.transpose()` because the inverse of a rotation matrix is its transform.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
@ -268,12 +288,56 @@ where DefaultAllocator: Allocator<N, D, D>
}
/// Transposes `self` in-place.
///
/// Same as `.inverse_mut()` because the inverse of a rotation matrix is its transform.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use nalgebra::{Rotation2, Rotation3, Vector3};
/// let rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
/// let mut tr_rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
/// tr_rot.transpose_mut();
///
/// assert_relative_eq!(rot * tr_rot, Rotation3::identity(), epsilon = 1.0e-6);
/// assert_relative_eq!(tr_rot * rot, Rotation3::identity(), epsilon = 1.0e-6);
///
/// let rot = Rotation2::new(1.2);
/// let mut tr_rot = Rotation2::new(1.2);
/// tr_rot.transpose_mut();
///
/// assert_relative_eq!(rot * tr_rot, Rotation2::identity(), epsilon = 1.0e-6);
/// assert_relative_eq!(tr_rot * rot, Rotation2::identity(), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn transpose_mut(&mut self) {
self.matrix.transpose_mut()
}
/// Inverts `self` in-place.
///
/// Same as `.transpose_mut()` because the inverse of a rotation matrix is its transform.
///
/// # Example
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use nalgebra::{Rotation2, Rotation3, Vector3};
/// let rot = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
/// let mut inv = Rotation3::new(Vector3::new(1.0, 2.0, 3.0));
/// inv.inverse_mut();
///
/// assert_relative_eq!(rot * inv, Rotation3::identity(), epsilon = 1.0e-6);
/// assert_relative_eq!(inv * rot, Rotation3::identity(), epsilon = 1.0e-6);
///
/// let rot = Rotation2::new(1.2);
/// let mut inv = Rotation2::new(1.2);
/// inv.inverse_mut();
///
/// assert_relative_eq!(rot * inv, Rotation2::identity(), epsilon = 1.0e-6);
/// assert_relative_eq!(inv * rot, Rotation2::identity(), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn inverse_mut(&mut self) {
self.transpose_mut()