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Merge pull request #974 from cchillen/RotationDocumentation

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Improve clarity of Rotation doc comments
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Sébastien Crozet 2021-08-30 10:32:47 +02:00 committed by GitHub
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2 changed files with 15 additions and 8 deletions
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13
src/geometry/rotation_construction.rs
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@ -15,9 +15,16 @@ where
///
/// # Example
/// ```
/// # use nalgebra::Quaternion;
/// let rot1 = Quaternion::identity();
/// let rot2 = Quaternion::new(1.0, 2.0, 3.0, 4.0);
/// # use nalgebra::{Rotation2, Rotation3};
/// # use nalgebra::Vector3;
/// let rot1 = Rotation2::identity();
/// let rot2 = Rotation2::new(std::f32::consts::FRAC_PI_2);
///
/// assert_eq!(rot1 * rot2, rot2);
/// assert_eq!(rot2 * rot1, rot2);
///
/// let rot1 = Rotation3::identity();
/// let rot2 = Rotation3::from_axis_angle(&Vector3::z_axis(), std::f32::consts::FRAC_PI_2);
///
/// assert_eq!(rot1 * rot2, rot2);
/// assert_eq!(rot2 * rot1, rot2);

10
src/geometry/rotation_specialization.rs
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@ -60,7 +60,7 @@ impl<T: SimdRealField> Rotation2<T> {
impl<T: SimdRealField> Rotation2<T> {
/// Builds a rotation from a basis assumed to be orthonormal.
///
/// In order to get a valid unit-quaternion, the input must be an
/// In order to get a valid rotation matrix, the input must be an
/// orthonormal basis, i.e., all vectors are normalized, and the are
/// all orthogonal to each other. These invariants are not checked
/// by this method.
@ -204,7 +204,7 @@ impl<T: SimdRealField> Rotation2<T> {
*self = Self::from_matrix_eps(self.matrix(), T::default_epsilon(), 0, c.into())
}
/// Raise the quaternion to a given floating power, i.e., returns the rotation with the angle
/// Raise the rotation to a given floating power, i.e., returns the rotation with the angle
/// of `self` multiplied by `n`.
///
/// # Example
@ -660,7 +660,7 @@ where
other * self.inverse()
}
/// Raise the quaternion to a given floating power, i.e., returns the rotation with the same
/// Raise the rotation to a given floating power, i.e., returns the rotation with the same
/// axis as `self` and an angle equal to `self.angle()` multiplied by `n`.
///
/// # Example
@ -692,7 +692,7 @@ where
/// Builds a rotation from a basis assumed to be orthonormal.
///
/// In order to get a valid unit-quaternion, the input must be an
/// In order to get a valid rotation matrix, the input must be an
/// orthonormal basis, i.e., all vectors are normalized, and the are
/// all orthogonal to each other. These invariants are not checked
/// by this method.
@ -846,7 +846,7 @@ impl<T: SimdRealField> Rotation3<T> {
}
}
/// The rotation axis and angle in ]0, pi] of this unit quaternion.
/// The rotation axis and angle in ]0, pi] of this rotation matrix.
///
/// Returns `None` if the angle is zero.
///