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

DualQuaternion: Fix to_vector self convention. 

By taking a ref, we can avoid an extra copy on the caller side.
This commit is contained in:
Bruce Mitchener 2023-08-19 00:52:59 +07:00
parent f404bcbd6d
commit bfb84e8fc6
1 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
src/geometry/dual_quaternion.rs
View File

@ -320,7 +320,7 @@ where
}
impl<T: RealField> DualQuaternion<T> {
fn to_vector(self) -> OVector<T, U8> {
fn to_vector(&self) -> OVector<T, U8> {
self.as_ref().clone().into()
}
}
@ -335,9 +335,9 @@ impl<T: RealField + AbsDiffEq<Epsilon = T>> AbsDiffEq for DualQuaternion<T> {
#[inline]
fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
self.clone().to_vector().abs_diff_eq(&other.clone().to_vector(), epsilon.clone()) ||
self.to_vector().abs_diff_eq(&other.to_vector(), epsilon.clone()) ||
// Account for the double-covering of S², i.e. q = -q
self.clone().to_vector().iter().zip(other.clone().to_vector().iter()).all(|(a, b)| a.abs_diff_eq(&-b.clone(), epsilon.clone()))
self.to_vector().iter().zip(other.to_vector().iter()).all(|(a, b)| a.abs_diff_eq(&-b.clone(), epsilon.clone()))
}
}
@ -354,9 +354,9 @@ impl<T: RealField + RelativeEq<Epsilon = T>> RelativeEq for DualQuaternion<T> {
epsilon: Self::Epsilon,
max_relative: Self::Epsilon,
) -> bool {
self.clone().to_vector().relative_eq(&other.clone().to_vector(), epsilon.clone(), max_relative.clone()) ||
self.to_vector().relative_eq(&other.to_vector(), epsilon.clone(), max_relative.clone()) ||
// Account for the double-covering of S², i.e. q = -q
self.clone().to_vector().iter().zip(other.clone().to_vector().iter()).all(|(a, b)| a.relative_eq(&-b.clone(), epsilon.clone(), max_relative.clone()))
self.to_vector().iter().zip(other.to_vector().iter()).all(|(a, b)| a.relative_eq(&-b.clone(), epsilon.clone(), max_relative.clone()))
}
}
@ -368,9 +368,9 @@ impl<T: RealField + UlpsEq<Epsilon = T>> UlpsEq for DualQuaternion<T> {
#[inline]
fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
self.clone().to_vector().ulps_eq(&other.clone().to_vector(), epsilon.clone(), max_ulps) ||
self.to_vector().ulps_eq(&other.to_vector(), epsilon.clone(), max_ulps) ||
// Account for the double-covering of S², i.e. q = -q.
self.clone().to_vector().iter().zip(other.clone().to_vector().iter()).all(|(a, b)| a.ulps_eq(&-b.clone(), epsilon.clone(), max_ulps))
self.to_vector().iter().zip(other.to_vector().iter()).all(|(a, b)| a.ulps_eq(&-b.clone(), epsilon.clone(), max_ulps))
}
}