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Author SHA1 Message Date
Terence
12c259f0b4 Implement additional DualQuaternion ops and UnitDualQuaternion 
This implements `UnitDualQuaternion` as an alternative to `Isometry3`
for representing 3D isometries, which also provides the `sclerp`
operation which can be used to perform screw-linear interpolation
between two unit dual quaternions.
 2021-01-28 17:25:32 -05:00
Andreas Longva
86aeed6a09 Test nalgebra-sparse in CI 2021-01-26 10:11:24 +01:00
Andreas Longva
bda8207ffd Rename to_value to into_value (clippy suggestion) 2021-01-26 10:11:24 +01:00
Andreas Longva
7bef417f99 Use nalgebra/proptest-support instead of /proptest in nalgebra-sparse 2021-01-26 10:11:24 +01:00
Andreas Longva
e7975ce09a Rebase and update nalgebra version for nalgebra-sparse 2021-01-26 10:11:24 +01:00
Andreas Longva
7473d54d74 rustfmt 2021-01-26 10:11:24 +01:00
Andreas Longva
795d818ae5 Improve documentation of errors and panics 2021-01-26 10:11:24 +01:00
Andreas Longva
5d5ed5be0b Various minor doc and comment fixes 2021-01-26 10:11:24 +01:00
Andreas Longva
ccf1f18991 Merge SolveError into OperationError 2021-01-26 10:11:24 +01:00
Andreas Longva
7b6333e9d1 Rename some Csr/Csc/SparsityPattern methods 2021-01-26 10:11:24 +01:00
Andreas Longva
cf1bd284f1 Improve ops docs 2021-01-26 10:11:24 +01:00
Andreas Longva
f98e64aafd Improve docs for SparsityPattern 2021-01-26 10:11:24 +01:00
Andreas Longva
cf220c9d2b Improve docs for CooMatrix 2021-01-26 10:11:24 +01:00
Andreas Longva
e8a35ddb62 CSC docs and improved CSR docs 2021-01-26 10:11:24 +01:00
Andreas Longva
afcad0ccc8 Documentation for CsrMatrix 2021-01-26 10:11:24 +01:00
Andreas Longva
0bee9be6c7 Extend CSC/CSR * Dense to work for combinations of ref and owned 2021-01-26 10:11:24 +01:00
Andreas Longva
74cd0283eb Partial top-level documentation 2021-01-26 10:11:24 +01:00
Andreas Longva
1fa0de92ae Preserve column dim type in CSR * Dense 
This is necessary so that CSR * Vector == Vector (before it would
also yield a DMatrix).
 2021-01-26 10:11:24 +01:00
Andreas Longva
15c4382fa9 Docs for most items in nalgebra-sparse 2021-01-26 10:11:24 +01:00
Andreas Longva
7a083d50f7 Increase tolerance to ensure tests pass 
It's possible that some particularly bad inputs cause
severe loss of significance in the triangular solves.
This is exacerbated by the fact that the way we test
the (residual) error is also prone to loss of significance,
so that the error measure itself is problematic.

We could maybe improve this in the future by using arbitrary-
precision arithmetic to remove some sources of error and testing
against appropriate bounds.
 2021-01-26 10:11:24 +01:00
Andreas Longva
31c911d4fb Change proptest strategies to use DimRange 2021-01-26 10:11:24 +01:00
Andreas Longva
9cd1540496 Improve and test proptest generators 
Due to a bug in proptest, we were required to pull in and modify
parts of proptest::strategy::Shuffle. Once the below PR has been merged
and released on crates.io, we can remove this code.

https://github.com/AltSysrq/proptest/pull/217
 2021-01-26 10:11:24 +01:00
Andreas Longva
3eab45d81b Replace spmm_pattern with spmm_{csr/csc}_pattern 2021-01-26 10:11:24 +01:00
Andreas Longva
cb0f9a5190 Add Csr/CscMatrix::pattern_and_values_mut() 2021-01-26 10:11:24 +01:00
Andreas Longva
c43a2b1679 Impl Csr/CscMatrix::into_pattern_and_values 2021-01-26 10:11:24 +01:00
Andreas Longva
e655fed4fa Replace Arc<SparsityPattern> with SparsityPattern 
After much deliberation, I have come to the conclusion that the
benefits do not really outweigh the added complexity. Even though
the added complexity is relatively minor, it makes it somewhat
more complicated to inter-op with other sparse linear algebra
libraries in the future.
 2021-01-26 10:11:24 +01:00
Andreas Longva
9b46a43c7f Add proptest regressions 2021-01-26 10:11:24 +01:00
Andreas Longva
fc0c22bf78 Add CscCholesky::solve and ::solve_mut 2021-01-26 10:11:24 +01:00
Andreas Longva
d6b4f1ac2f Add CscCholesky::factor_numerical 2021-01-26 10:11:24 +01:00
Andreas Longva
cd9c3baead Clean up CscCholesky 2021-01-26 10:11:24 +01:00
Andreas Longva
4b395523dd Fix issue with UninitVec and zero-sized types 2021-01-26 10:11:24 +01:00
Andreas Longva
ef3477f411 Remove Zero bound for transpose and impl SparsityPattern::transpose 2021-01-26 10:11:24 +01:00
Andreas Longva
3b1303d1e0 Implement lower/upper triangular solve for CSC matrices 2021-01-26 10:11:24 +01:00
Andreas Longva
c988ebb4e7 Fail test compilation if compare feature is missing 2021-01-26 10:11:24 +01:00
Andreas Longva
5869f784e5 Implement CsrMatrix/CscMatrix::filter and associated helpers 
Includes ::lower_triangle(), ::upper_triangle() and
::diagonal_matrix().
 2021-01-26 10:11:24 +01:00
Andreas Longva
3453577a16 Use matrixcompare 0.2 with prop_assert_matrix_eq in Cholesky test 2021-01-26 10:11:24 +01:00
Andreas Longva
84557d8046 Implement matrixcompare traits for sparse matrices 2021-01-26 10:11:24 +01:00
Andreas Longva
aad2216c56 Initial port from nalgebra::CsCholesky factorization to CscCholesky 2021-01-26 10:11:24 +01:00
Andreas Longva
6e34c23d05 Implement Csr/CscMatrix::identity 2021-01-26 10:11:24 +01:00
Andreas Longva
ea6c1451b4 Rename Op::unwrap to Op::into_inner 2021-01-26 10:11:24 +01:00
Andreas Longva
885480a634 Implement CSR/CSC * Dense std operations 2021-01-26 10:11:24 +01:00
Andreas Longva
b7a7f967b8 Implement Neg, Div, DivAssign for Csr/CscMatrix 2021-01-26 10:11:24 +01:00
Andreas Longva
0b4356eb0e Implement Sub for Csr/CscMatrix 2021-01-26 10:11:24 +01:00
Andreas Longva
7aeb663165 Implement matrix-scalar multiplication 2021-01-26 10:11:24 +01:00
Andreas Longva
dbdf5567fc Implement arithmetic operations for CSC matrices 2021-01-26 10:11:24 +01:00
Andreas Longva
6a1d12705f Remove old .get() API for CscMatrix in favor of entry API 
This essentially makes the API of CscMatrix analogous to
that of CsrMatrix.
 2021-01-26 10:11:24 +01:00
Andreas Longva
e261e7c388 Remove use of unsafe for CsLaneIterMut 2021-01-26 10:11:24 +01:00
Andreas Longva
b59c4a3216 Refactor most of Csr/CscMatrix logic into helper type CsMatrix 
Still need to update CSC API so that it mirrors CsrMatrix
in terms of get_entry and so on.
 2021-01-26 10:11:24 +01:00
Andreas Longva
8983027b39 Minor refactoring for sp* ops 2021-01-26 10:11:24 +01:00
Andreas Longva
66cbd26702 Add prealloc suffix to spmm_csr and spadd_csr 
The suffix is intended to communicate that these methods
assume `preallocated` storage, i.e. they try to store the
result in a matrix which already has the correct sparsity
pattern for the operation.
 2021-01-26 10:11:24 +01:00