Commit Graph

1145 Commits

Author SHA1 Message Date
Crozet Sébastien aeb9f7ea39 Add a matrix.udu() method to compute the UDU decomposition. 2021-02-25 15:49:24 +01:00
Crozet Sébastien ab0d335b61 Fix tests for the UDU decomposition. 2021-02-25 15:48:44 +01:00
Christopher Rabotin 89ca2fe5fb UDU only supported for Real matrices, not Complex
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
2021-02-25 15:48:44 +01:00
Christopher Rabotin 4ff4911ac3 Implement requested changes
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
2021-02-25 15:48:44 +01:00
Chris 06861a9755 Update src/linalg/udu.rs
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
2021-02-25 15:48:44 +01:00
Christopher Rabotin 7a49b9eeca UDU: d now stored in VectorN instead of MatrixN
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
2021-02-25 15:48:44 +01:00
Christopher Rabotin e9933e5c91 UDU: Expand to Dim from DimName
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
2021-02-25 15:48:44 +01:00
Christopher Rabotin 5a7ed61e9b UDU impl: using 0-index nomenclature
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
2021-02-25 15:48:44 +01:00
Christopher Rabotin a8d40423ea Fixed UDU algorithm
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
2021-02-25 15:48:44 +01:00
Christopher Rabotin 8dda6714b5 Untested UDU implementation
Pushing to trigger build

Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
2021-02-25 15:48:44 +01:00
Sébastien Crozet 21cc428480
Merge pull request #803 from aweinstock314/no_unsound_assume_init
Propagate `mem::MaybeUninit` through the return types of `Allocator::…
2021-02-25 15:46:49 +01:00
Sébastien Crozet fa2e025a1e
Merge pull request #824 from tpdickso/dual_quaternion
Implement additional `DualQuaternion` ops and `UnitDualQuaternion`
2021-02-25 15:46:34 +01:00
Sébastien Crozet 69e2ad6a44
Merge pull request #831 from iMplode-nZ/dev
Added bytemuck implementations for static storages.
2021-02-25 15:46:28 +01:00
Sébastien Crozet bc6faa22f3
Merge pull request #797 from Recmo/remco/feat/double-ended-iter
impl DoubleEndedIterator for {MatrixIter, MatrixIterMut}
2021-02-25 15:46:11 +01:00
Sébastien Crozet 06f92ad1e3
Merge pull request #613 from russellb23/dev
QR factorizatio nwith column pivoting
2021-02-25 15:45:58 +01:00
Crozet Sébastien a32f41bd41 Fix compilation when targetting no-std. 2021-02-25 15:03:35 +01:00
Crozet Sébastien bf0f3163ce Rename some of the variables in dual-quaternion doc-tests. 2021-02-25 14:49:01 +01:00
Crozet Sébastien 162a7ef09c Fix compilation when the mint or alga features are enabled. 2021-02-25 14:30:04 +01:00
Crozet Sébastien af448d2c70 Add bytemuck impls to points. 2021-02-25 14:19:20 +01:00
Crozet Sébastien 0b1e6f0b05 Run cargo fmt. 2021-02-25 14:16:57 +01:00
Crozet Sébastien dc15261ec1 Move the bytemuck impls to GenericArray and add a transitive impl for matrices. 2021-02-25 14:10:34 +01:00
Crozet Sébastien 234e103e4b Fix compilation of the sparse module. 2021-02-25 13:52:58 +01:00
Avi Weinstock ee32f7d4cf Run `cargo fmt`. 2021-02-25 13:42:23 +01:00
Avi Weinstock cd12422d6f Change `zero_or_uninitialized_generic` to `unimplemented_or_uninitialized_generic`, and use it instead of manually dispatching on `feature=no_unsound_assume_init` in functions without `N: Zero`. 2021-02-25 13:42:23 +01:00
Avi Weinstock 36a3ac814f Propagate `mem::MaybeUninit` through the return types of `Allocator::allocate_uninitialized` and `Matrix::new_uninitialized_generic`.
Most call sites still invoke UB through `assume_init`. Said call sites instead invoke `unimplemented!()` if the `no_unsound_assume_init` feature is enabled, to make it easier to gradually fix them.

Progress towards #556.
2021-02-25 13:42:23 +01:00
Remco Bloemen b25c2aa78c Fix inner size 2021-02-25 13:31:16 +01:00
Remco Bloemen d5ca2019a3 impl FusedIterator 2021-02-25 13:31:16 +01:00
Remco Bloemen eb3d787ed6 Fix inner_size computation 2021-02-25 13:31:16 +01:00
Remco Bloemen d49af8e8b2 Implement next_back 2021-02-25 13:31:16 +01:00
Remco Bloemen 73d6ba0ca1 Dummy implementation of DoubleEndedIterator 2021-02-25 13:31:16 +01:00
Crozet Sébastien 598c217d75 Move the col_piv_qr method to the decomposition module. 2021-02-25 13:28:42 +01:00
Crozet Sébastien 693e6d0035 Run cargo fmt. 2021-02-25 12:59:14 +01:00
Sébastien Crozet adc82845d1
Merge pull request #823 from Andlon/sparse-rework
Sparse rework: nalgebra-sparse
2021-02-25 12:58:28 +01:00
Crozet Sébastien 308d95386e Fix all tests and the ColPivQR::solve. 2021-02-25 12:06:04 +01:00
russellb23 63a34528e0 Added test for QR factorization and fixed unpack issue 2021-02-25 11:31:37 +01:00
russellb23 1316133625 Removed unused imports 2021-02-25 11:31:37 +01:00
russellb23 a2f3e1ac26 Inverted sign in householder 2021-02-25 11:31:37 +01:00
russellb23 f8c0195f0f QR factorization with column pivoting 2021-02-25 11:31:37 +01:00
Crozet Sébastien bafa1dcd97 Re-export simba::SimdValue. 2021-02-22 14:27:18 +01:00
Crozet Sébastien 478921881f Add approximate rotation composition for unit-quaternion. 2021-02-22 14:27:08 +01:00
Crozet Sébastien 9d930eb21a Add a method to cap the magnitude of a vector. 2021-02-22 14:26:40 +01:00
Crozet Sébastien 6139372c38 Add from_basis_unchecked to rotation types. 2021-02-22 14:26:25 +01:00
iMplode nZ 1c0891bbbb Added bytemuck for Unit and Quaternion. 2021-02-12 15:30:12 -08:00
iMplode nZ c667b1f9c8 Added bytemuck implementations for static storages. 2021-02-10 20:12:24 -08:00
Crozet Sébastien fb26d4d0fb Update the htaml_root_url. 2021-01-29 13:56:40 +01:00
Terence c408e09e28 update header comment for operators 2021-01-28 19:41:55 -05:00
Terence ac92e68486 add new operators 2021-01-28 19:27:40 -05:00
Terence ecda74f6b2 clippify 2021-01-28 18:50:34 -05:00
Terence 388b77108e rustfmt 2021-01-28 18:46:14 -05:00
Terence 6be0365203 add integration test 2021-01-28 18:45:34 -05:00
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 646f62a293 rustfmt (nalgebra) 2021-01-26 09:49:01 +01:00
Andreas Longva 5dfe06897f Rename nalgebra/proptest to /proptest-support
This gives us some freedom in the future, in case we need
additional dependencies for the proptest integration.
2021-01-26 09:49:01 +01:00
Andreas Longva b2dbcf3168 Add D=Dynamic default and ::to_range_inclusive for DimRange (nalgebra) 2021-01-26 08:57:47 +01:00
Andreas Longva f9ea2b4471 Initial proptest implementation for nalgebra
This introduces functionality for creating strategies for matrices and
vectors, as well as an implementation of Arbitrary.

Strategies for the geometric types (Point3, Quaternion etc.) are not
currently part of this contribution.

The current strategy implementation for matrices has some limitations
that lead to suboptimal shrinking behavior. This is documented in the
module-level docs, with some additional comments in the code.
2021-01-26 08:57:47 +01:00
Chinedu Francis Nwafili b9513257b8
Serialize DQ to [N;8]
Closes #816
2020-12-18 12:19:38 -05:00
Chinedu Francis Nwafili 7ec5d00c3d
Clean up DualQuat bounds 2020-12-18 10:38:19 -05:00
Chinedu Francis Nwafili 89134efc3b
Store DQ as real and dual Quat 2020-12-18 10:09:56 -05:00
Chinedu Francis Nwafili 8036c56fda
Introduce DualQuaternion type
This commit introduces the `DualQuaternion` type, in line with the plan
laid out in [#487].

[#487]: https://github.com/dimforge/nalgebra/issues/487
2020-12-18 09:13:24 -05:00
Sébastien Crozet 88145b7f8c
Merge pull request #814 from dimforge/quaternion_partial_eq_fix
Fix the PartialEq impl for quaternions.
2020-12-18 12:29:38 +01:00
Sébastien Crozet 3899d92f5d
Merge pull request #815 from dimforge/isometry_inv_mul
Add a dedicated method for computing isometry1.inverse() * isometry2.
2020-12-18 12:08:34 +01:00
Sébastien Crozet 8c615289dc
Merge pull request #813 from dimforge/deserialize_uninit
Add workaround for the deserialization of a matrix containing an enum.
2020-12-18 12:06:39 +01:00
Crozet Sébastien ed74ff7c99 Simplify trait bounds for quaternion indexing. 2020-12-18 12:06:27 +01:00
Crozet Sébastien 60708640d3 Add a dedicated method for computing isometry1.inverse() * isometry2.
It is more efficient that way.
2020-12-18 11:55:46 +01:00
Crozet Sébastien b15a274a14 Add workaround for the deserialization of a matrix containing an enum. 2020-12-18 11:54:56 +01:00
Crozet Sébastien 67603be6ed Fix the PartialEq impl for quaternions.
The double-covering property should only be taken into account for `UnitQuaternion` instead of `Quaternion` itself.
2020-12-18 11:38:33 +01:00
Südi Tamás b01d01d486
update the version number in the documentation
from 0.21 to 0.23
2020-12-16 18:35:13 +01:00
Crozet Sébastien 651d318c26 Add sections to the Unit wrapper documentation 2020-11-21 12:19:04 +01:00
Crozet Sébastien c1372c3041 Add sections to the UnitComplex documentation 2020-11-21 11:56:32 +01:00
Crozet Sébastien 99ac7a8e08 Add sections to the Rotation documentation 2020-11-21 11:56:32 +01:00
Crozet Sébastien 2a3d98bff8 Matrix, vector, isometry, and point aliases documentation: warn that the reader should take a look at the documentation of the aliased type too. 2020-11-20 17:46:03 +01:00
Crozet Sébastien cf769522f8 Add sections to the documentations of Isometry and Point. 2020-11-20 17:45:11 +01:00
Crozet Sébastien 857ce13b63 Add DVector::from(Vec). 2020-11-19 16:28:06 +01:00
Philippe Renon 87ee014bd3 clippy: fix clone_on_copy warnings 2020-11-19 12:55:15 +01:00
Philippe Renon bbc6a28f7d clippy: fix len_without_is_empty warnings 2020-11-19 12:24:26 +01:00
Philippe Renon 6a5b418fbc clippy: fix ptr_offset_with_cast warnings 2020-11-19 11:56:58 +01:00
Philippe Renon f515cffad9 clippy: fix redundant_closure warnings 2020-11-19 11:43:08 +01:00
Philippe Renon 726b8eeecf clippy: fix or_fun_call warnings 2020-11-19 11:43:08 +01:00
Philippe Renon 74a09c8a5e clippy: fix ptr_offset_with_cast warnings
i.e. use of `offset` with a `usize` casted to an `isize`
2020-11-16 14:59:53 +01:00
Philippe Renon f1211b0d99 clippy: remove unused imports 2020-11-16 14:46:04 +01:00
Philippe Renon 008c24204e clippy: fix unreadable_literal warnings 2020-11-16 14:43:36 +01:00
Philippe Renon de4a067d27 clippy: fix len_zero warnings 2020-11-16 12:11:24 +01:00
Philippe Renon d577a18a45 clippy: fix or_fun_call warnings 2020-11-16 11:11:58 +01:00
Philippe Renon 5dff493515 clippy: fix just_underscores_and_digits warnings 2020-11-16 11:04:57 +01:00
Philippe Renon cf54580fac clippy: fix redundant_field_names warnings 2020-11-16 11:04:56 +01:00
Crozet Sébastien 0521051665 Fix wrong import of Signed an Zero. 2020-11-15 17:44:58 +01:00
Crozet Sébastien 17eb626018 Fix typo. 2020-11-15 17:25:29 +01:00
Crozet Sébastien f2da993c8b Reduce matrix and slice aliases depth to 1. 2020-11-15 17:23:46 +01:00
Crozet Sébastien e852df6124 Add sections for most Matrix methods. 2020-11-15 16:57:49 +01:00
Crozet Sébastien b8d1ae3a1f Add aliases for matrices with only one dynamic dimension. 2020-11-13 18:35:23 +01:00
Crozet Sébastien 9a4cf0b69f Reorganize matrix construction macros. 2020-11-13 18:34:47 +01:00
Crozet Sébastien 4c2192d9e0 Reorganize matrix slice macros. 2020-11-13 18:34:33 +01:00
Crozet Sébastien 45f2fc4f92 Move all matrix decomposition methods under a single impl. 2020-11-13 17:26:47 +01:00
Philippe Renon 04ce8b3f6a clippy: fix suspicious_op_assign_impl errors (false positives) 2020-10-26 13:09:03 +01:00
Philippe Renon d990aff44e clippy: fix clippy::eq_op error (false positive) 2020-10-26 08:56:49 +01:00
Philippe Renon 74f01d2538 clippy: fix suspicious_arithmetic_impl errors (false positives) 2020-10-26 08:49:06 +01:00
Crozet Sébastien 8e483a5434 Fix reshaping test. 2020-10-25 16:31:10 +01:00
Crozet Sébastien e89a26cbd0 Add doc-tests for reshape_generic. 2020-10-25 16:03:18 +01:00
Crozet Sébastien 5b3da9e2eb Fix typo in comment. 2020-10-25 16:02:31 +01:00
Nathan Kent 4a6022d9bf Add methods for in-place reshaping of matrices
There are two major additions in this commit. The first is a new storage
trait, `ReshapableStorage`, that can be implemented for storage types
that can be reshaped in-place. I have implemented this for both the
`ArrayStorage` and `VecStorage` types, as they are the most common and
they are just interpretations of a flat list.

The second is a `Matrix::reshape_generic` method that allows matrices to
be in-place reshaped provided that the underlying storage can handle it.
In practice, this means that the standard matrix types (`MatrixMN` and
`DMatrix`) can be resized to any size that has the same element count.
Resizing between array and vector storage is not implemented due to
`Storage` only being implemented for `VecStorage` variants where at
least one dimension is `Dynamic`.

Additionally, only the generic reshape function is added as it can be a
basis for other reshaping functions (see the resizing functions) and I
am not particularly in the mood to implement a variety of reshaping
methods.
2020-10-25 15:37:18 +01:00