forked from M-Labs/nalgebra
Add UnitQuaternion::{new_eps, from_scaled_axis_eps}.
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@ -7,6 +7,8 @@ This project adheres to [Semantic Versioning](http://semver.org/).
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## [0.15.0] - WIP
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### Modified
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### Added
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* Add `UnitQuaternion` constructor `::new_eps(...)` and `::from_scaled_axis_eps(...)` that return the
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identity if the magnitude of the input axisangle is smaller than the epsilon provided.
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* Add methods `.rotation_between_axis(...)` and `.scaled_rotation_between_axis(...)` to `UnitComplex`
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to compute the rotation matrix between two 2D **unit** vectors.
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* Add methods `.axis_angle()` to `UnitComplex` and `UnitQuaternion` in order to retrieve both the
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@ -201,10 +201,16 @@ impl<N: Real> Quaternion<N> {
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/// Compute the exponential of a quaternion.
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#[inline]
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pub fn exp(&self) -> Quaternion<N> {
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self.exp_eps(N::default_epsilon())
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}
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/// Compute the exponential of a quaternion.
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#[inline]
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pub fn exp_eps(&self, eps: N) -> Quaternion<N> {
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let v = self.vector();
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let nn = v.norm_squared();
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if relative_eq!(nn, N::zero()) {
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if nn <= eps * eps {
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Quaternion::identity()
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} else {
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let w_exp = self.scalar().exp();
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@ -351,7 +351,7 @@ impl<N: Real> UnitQuaternion<N> {
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/// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
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///
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/// If `axisangle` is zero, this returns the indentity rotation.
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/// If `axisangle` has a magnitude smaller than `N::default_epsilon()`, this returns the indentity rotation.
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#[inline]
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pub fn new<SB>(axisangle: Vector<N, U3, SB>) -> Self
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where
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@ -364,7 +364,20 @@ impl<N: Real> UnitQuaternion<N> {
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/// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
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///
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/// If `axisangle` is zero, this returns the indentity rotation.
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/// If `axisangle` has a magnitude smaller than `eps`, this returns the indentity rotation.
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#[inline]
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pub fn new_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
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where
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SB: Storage<N, U3>,
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{
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let two: N = ::convert(2.0f64);
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let q = Quaternion::<N>::from_parts(N::zero(), axisangle / two).exp_eps(eps);
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Self::new_unchecked(q)
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}
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/// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
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///
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/// If `axisangle` has a magnitude smalle than `N::default_epsilon()`, this returns the indentity rotation.
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/// Same as `Self::new(axisangle)`.
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#[inline]
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pub fn from_scaled_axis<SB>(axisangle: Vector<N, U3, SB>) -> Self
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@ -373,6 +386,18 @@ impl<N: Real> UnitQuaternion<N> {
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{
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Self::new(axisangle)
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}
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/// Creates a new unit quaternion rotation from a rotation axis scaled by the rotation angle.
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///
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/// If `axisangle` has a mangnitude smaller than `eps`, this returns the indentity rotation.
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/// Same as `Self::new(axisangle)`.
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#[inline]
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pub fn from_scaled_axis_eps<SB>(axisangle: Vector<N, U3, SB>, eps: N) -> Self
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where
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SB: Storage<N, U3>,
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{
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Self::new_eps(axisangle, eps)
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}
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}
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impl<N: Real> One for UnitQuaternion<N> {
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