Update changelog
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raimundo saona
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CHANGELOG.md
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CHANGELOG.md
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@ -4,6 +4,12 @@ documented here.
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This project adheres to [Semantic Versioning](https://semver.org/).
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## [0.29.1] - WIP
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### Added
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- The conversion trait `From<Vec<T>>` and method `from_vec_storage` for `RowDVector`. See [#975](https://github.com/dimforge/nalgebra/issues/975)
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## [0.29.0]
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### Breaking changes
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- We updated to the version 0.6 of `simba`. This means that the trait bounds `T: na::RealField`, `na::ComplexField`,
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@ -242,21 +248,21 @@ for details about this switch and its benefits.
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geometric types.
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### Modified
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* Use of traits like `alga::general::{RealField, ComplexField}` have now been replaced by
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`simba::scalar::{RealField, ComplexField}`.
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`simba::scalar::{RealField, ComplexField}`.
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* The implementation of traits from the __alga__ crate (and well as the dependency to _alga__) are now
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omitted unless the `alga` cargo feature is activated.
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### Removed
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* The `Neg` unary operator is no longer implemented for `UnitComplex` and `UnitQuaternion`. This caused
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hard-to-track errors when we mistakenly write, e.g., `-q * v` instead of `-(q * v)`.
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* The `na::convert_unchecked` is no longer marked as unsafe.
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## [0.20.0]
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### Added
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* `cholesky.rank_one_update(...)` which performs a rank-one update on the cholesky decomposition of a matrix.
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* `From<&Matrix>` is now implemented for matrix slices.
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* `.try_set_magnitude(...)` which sets the magnitude of a vector, while keeping its direction.
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* Implementations of `From` and `Into` for the conversion between matrix slices and standard (`&[N]` `&mut [N]`) slices.
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### Modified
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* We started some major changes in order to allow non-Copy types to be used as scalar types inside of matrices/vectors.
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@ -264,16 +270,16 @@ for details about this switch and its benefits.
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### Added
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* `.remove_rows_at` and `remove_columns_at` which removes a set of rows or columns (specified by indices) from a matrix.
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* Several formatting traits have been implemented for all matrices/vectors: `LowerExp`, `UpperExp`, `Octal`, `LowerHex`,
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`UpperHex`, `Binary`, `Pointer`.
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`UpperHex`, `Binary`, `Pointer`.
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* `UnitQuaternion::quaternions_mean(...)` which computes the mean rotation of a set of unit quaternions. This implements
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the algorithm from _Oshman, Yaakov, and Avishy Carmi, "Attitude estimation from vector observations using a genetic-algorithm-embedded quaternion particle filter."
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the algorithm from _Oshman, Yaakov, and Avishy Carmi, "Attitude estimation from vector observations using a genetic-algorithm-embedded quaternion particle filter."
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### Modified
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* It is now possible to get the `min/max` element of unsigned integer matrices.
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### Added to nalgebra-glm
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* Some infinite and reversed perspectives: `::infinite_perspective_rh_no`, `::infinite_perspective_rh_zo`,
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`::reversed_perspective_rh_zo`, and `::reversed_infinite_perspective_rh_zo`.
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`::reversed_perspective_rh_zo`, and `::reversed_infinite_perspective_rh_zo`.
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## [0.18.0]
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This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well
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@ -287,12 +293,12 @@ as matrix decomposition. This excludes geometric type (like `Isometry`, `Rotatio
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* Add `.left_div, .right_div` for quaternions.
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* Add `.renormalize` to `Unit<...>` and `Rotation3` to correct potential drift due to repeated operations.
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Those drifts could cause them not to be pure rotations anymore.
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#### Convolution
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* `.convolve_full(kernel)` returns the convolution of `self` by `kernel`.
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* `.convolve_valid(kernel)` returns the convolution of `self` by `kernel` after removal of all the elements relying on zero-padding.
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* `.convolve_same(kernel)` returns the convolution of `self` by `kernel` with a result of the same size as `self`.
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#### Complex number support
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* Add the `::from_matrix` constructor too all rotation types to extract a rotation from a raw matrix.
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* Add the `::from_matrix_eps` constructor too all rotation types to extract a rotation from a raw matrix. This takes
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@ -329,22 +335,22 @@ Note that all the other BLAS operation will continue to work for all fields, inc
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* Add `.slerp` and `.try_slerp` to unit vectors.
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* Add `.lerp` to vectors.
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* Add `.to_projective` and `.as_projective` to `Perspective3` and `Orthographic3` in order to
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use them as `Projective3` structures.
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use them as `Projective3` structures.
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* Add `From/Into` impls to allow the conversion of any transformation type to a matrix.
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* Add `Into` impls to convert a matrix slice into an owned matrix.
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* Add `Point*::from_slice` to create a point from a slice.
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* Add `.map_with_location` to matrices to apply a map which passes the component indices to the user-defined closure alongside
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the component itself.
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the component itself.
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* Add impl `From<Vector>` for `Point`.
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* Add impl `From<Vector4>` for `Quaternion`.
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* Add impl `From<Vector>` for `Translation`.
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* Add the `::from_vec` constructor to construct a matrix from a `Vec` (a `DMatrix` will reuse the original `Vec`
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as-is for its storage).
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as-is for its storage).
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* Add `.to_homogeneous` to square matrices (and with dimensions higher than 1x1). This will increase their number of row
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and columns by 1. The new column and row are filled with 0, except for the diagonal element which is set to 1.
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and columns by 1. The new column and row are filled with 0, except for the diagonal element which is set to 1.
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* Implement `Extend<Vec>` for matrices with a dynamic storage. The provided `Vec` is assumed to represent a column-major
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matrix with the same number of rows as the one being extended. This will effectively append new columns on the right of
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the matrix being extended.
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matrix with the same number of rows as the one being extended. This will effectively append new columns on the right of
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the matrix being extended.
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* Implement `Extend<Vec>` for vectors with a dynamic storage. This will concatenate the vector with the given `Vec`.
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* Implement `Extend<Matrix<...>>` for matrices with dynamic storage. This will concatenate the columns of both matrices.
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* Implement `Into<Vec>` for the `MatrixVec` storage.
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@ -353,10 +359,10 @@ Note that all the other BLAS operation will continue to work for all fields, inc
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### Modified
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* The orthographic projection no longer require that `bottom < top`, that `left < right`, and that `znear < zfar`. The
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only restriction now ith that they must not be equal (in which case the projection would be singular).
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only restriction now ith that they must not be equal (in which case the projection would be singular).
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* The `Point::from_coordinates` methods is deprecated. Use `Point::from` instead.
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* The `.transform_point` and `.transform_vector` methods are now inherent methods for matrices so that the user does not have to
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explicitly import the `Transform` trait from the alga crate.
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explicitly import the `Transform` trait from the alga crate.
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* Renamed the matrix storage types: `MatrixArray` -> `ArrayStorage` and `MatrixVec` -> `VecStorage`.
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* Renamed `.unwrap()` to `.into_inner()` for geometric types that wrap another type.
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This is for the case of `Unit`, `Transform`, `Orthographic3`, `Perspective3`, `Rotation`.
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@ -552,8 +558,8 @@ overview of all the added/modified features.
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This version is a major rewrite of the library. Major changes are:
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* Algebraic traits are now defined by the [alga](https://crates.io/crates/alga) crate.
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All other mathematical traits, except `Axpy` have been removed from
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**nalgebra**.
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All other mathematical traits, except `Axpy` have been removed from
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**nalgebra**.
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* Methods are now preferred to free functions because they do not require any
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trait to be used anymore.
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* Most algebraic entities can be parametrized by type-level integers
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@ -746,11 +752,11 @@ you [there](https://users.nphysics.org)!
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### Modified
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* Vectors are now multipliable with isometries. This will result into a pure rotation (this is how
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vectors differ from point semantically: they design directions, so they are not translatable).
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vectors differ from point semantically: they design directions, so they are not translatable).
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* `{Isometry3, Rotation3}::look_at` reimplemented and renamed to `::look_at_rh` and `::look_at_lh` to agree
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with the computer graphics community (in particular, the GLM library). Use the `::look_at_rh`
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variant to build a view matrix that
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may be successfully used with `Persp` and `Ortho`.
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with the computer graphics community (in particular, the GLM library). Use the `::look_at_rh`
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variant to build a view matrix that
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may be successfully used with `Persp` and `Ortho`.
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* The old `{Isometry3, Rotation3}::look_at` implementations are now called `::new_observer_frame`.
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* Rename every `fov` on `Persp` to `fovy`.
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* Fixed the perspective and orthographic projection matrices.
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