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Add doc-tests to isometry_construction.rs

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sebcrozet 2018-10-22 08:53:52 +02:00 committed by Sébastien Crozet
parent a512e16868
commit 6d63a0a5f1
1 changed files with 146 additions and 8 deletions
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154
src/geometry/isometry_construction.rs
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@ -23,6 +23,16 @@ impl<N: Real, D: DimName, R: AlgaRotation<Point<N, D>>> Isometry<N, D, R>
where DefaultAllocator: Allocator<N, D>
{
/// Creates a new identity isometry.
///
/// # Example
///
/// ```
/// # use nalgebra::{Isometry2, Point2};
/// let iso = Isometry2::identity();
/// let pt = Point2::new(1.0, 2.0);
///
/// assert_eq!(iso * pt, pt);
/// ```
#[inline]
pub fn identity() -> Self {
Self::from_parts(Translation::identity(), R::identity())
@ -30,6 +40,21 @@ where DefaultAllocator: Allocator<N, D>
/// The isometry that applies the rotation `r` with its axis passing through the point `p`.
/// This effectively lets `p` invariant.
///
/// # Example
///
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use std::f32;
/// # use nalgebra::{Isometry2, Point2, UnitComplex};
/// let rot = UnitComplex::new(f32::consts::PI);
/// let pt = Point2::new(1.0, 0.0);
/// let iso = Isometry2::rotation_wrt_point(rot, pt);
///
/// assert_eq!(iso * pt, pt); // The rotation center is not affected.
/// assert_relative_eq!(iso * Point2::new(1.0, 2.0), Point2::new(1.0, -2.0), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn rotation_wrt_point(r: R, p: Point<N, D>) -> Self {
let shift = r.transform_vector(&-&p.coords);
@ -81,7 +106,19 @@ where
// 2D rotation.
impl<N: Real> Isometry<N, U2, Rotation2<N>> {
/// Creates a new isometry from a translation and a rotation angle.
/// Creates a new 2D isometry from a translation and a rotation angle.
///
/// Its rotational part is represented as a 2x2 rotation matrix.
///
/// # Example
///
/// ```
/// # use std::f32;
/// # use nalgebra::{Isometry2, Vector2, Point2};
/// let iso = Isometry2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
///
/// assert_eq!(iso * Point2::new(3.0, 4.0), Point2::new(-3.0, 5.0));
/// ```
#[inline]
pub fn new(translation: Vector2<N>, angle: N) -> Self {
Self::from_parts(
@ -92,7 +129,19 @@ impl<N: Real> Isometry<N, U2, Rotation2<N>> {
}
impl<N: Real> Isometry<N, U2, UnitComplex<N>> {
/// Creates a new isometry from a translation and a rotation angle.
/// Creates a new 2D isometry from a translation and a rotation angle.
///
/// Its rotational part is represented as an unit complex number.
///
/// # Example
///
/// ```
/// # use std::f32;
/// # use nalgebra::{IsometryMatrix2, Point2, Vector2};
/// let iso = IsometryMatrix2::new(Vector2::new(1.0, 2.0), f32::consts::FRAC_PI_2);
///
/// assert_eq!(iso * Point2::new(3.0, 4.0), Point2::new(-3.0, 5.0));
/// ```
#[inline]
pub fn new(translation: Vector2<N>, angle: N) -> Self {
Self::from_parts(
@ -107,6 +156,28 @@ macro_rules! isometry_construction_impl(
($RotId: ident < $($RotParams: ident),*>, $RRDim: ty, $RCDim: ty) => {
impl<N: Real> Isometry<N, U3, $RotId<$($RotParams),*>> {
/// Creates a new isometry from a translation and a rotation axis-angle.
///
/// # Example
///
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use std::f32;
/// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
/// let axisangle = Vector3::y() * f32::consts::FRAC_PI_2;
/// let translation = Vector3::new(1.0, 2.0, 3.0);
///
/// // Isometry with its rotation part represented as a UnitQuaternion
/// let iso = Isometry3::new(translation, axisangle);
/// assert_relative_eq!(iso * Point3::new(4.0, 5.0, 6.0), Point3::new(7.0, 7.0, -1.0), epsilon = 1.0e-6);
/// assert_relative_eq!(iso * Vector3::new(4.0, 5.0, 6.0), Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
/// ```
///
/// // Isometry with its rotation part represented as a Rotation3 (a 3x3 rotation matrix).
/// let iso = IsometryMatrix3::new(translation, axisangle);
/// assert_relative_eq!(iso * Point3::new(4.0, 5.0, 6.0), Point3::new(7.0, 7.0, -1.0), epsilon = 1.0e-6);
/// assert_relative_eq!(iso * Vector3::new(4.0, 5.0, 6.0), Vector3::new(6.0, 5.0, -4.0), epsilon = 1.0e-6);
/// ```
#[inline]
pub fn new(translation: Vector3<N>, axisangle: Vector3<N>) -> Self {
Self::from_parts(
@ -117,14 +188,35 @@ macro_rules! isometry_construction_impl(
/// Creates an isometry that corresponds to the local frame of an observer standing at the
/// point `eye` and looking toward `target`.
///
/// It maps the view direction `target - eye` to the positive `z` axis and the origin to the
/// `eye`.
/// It maps the `z` axis to the view direction `target - eye`and the origin to teh `eye`.
///
/// # Arguments
/// * eye - The observer position.
/// * target - The target position.
/// * up - Vertical direction. The only requirement of this parameter is to not be collinear
/// to `eye - at`. Non-collinearity is not checked.
///
/// # Example
///
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use std::f32;
/// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
/// let eye = Point3::new(1.0, 2.0, 3.0);
/// let target = Point3::new(2.0, 2.0, 3.0);
/// let up = Vector3::y();
///
/// // Isometry with its rotation part represented as a UnitQuaternion
/// let iso = Isometry3::new_observer_frame(&eye, &target, &up);
/// assert_eq!(iso * Point3::origin(), eye);
/// assert_relative_eq!(iso * Vector3::z(), Vector3::x());
///
/// // Isometry with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
/// let iso = IsometryMatrix3::new_observer_frame(&eye, &target, &up);
/// assert_eq!(iso * Point3::origin(), eye);
/// assert_relative_eq!(iso * Vector3::z(), Vector3::x());
/// ```
#[inline]
pub fn new_observer_frame(eye: &Point3<N>,
target: &Point3<N>,
@ -137,14 +229,37 @@ macro_rules! isometry_construction_impl(
/// Builds a right-handed look-at view matrix.
///
/// This conforms to the common notion of right handed look-at matrix from the computer
/// graphics community.
/// It maps the view direction `target - eye` to the **negative** `z` axis to and the `eye` to the origin.
/// This conforms to the common notion of right handed camera look-at **view matrix** from
/// the computer graphics community, i.e. the camera is assumed to look toward its local `-z` axis.
///
/// # Arguments
/// * eye - The eye position.
/// * target - The target position.
/// * up - A vector approximately aligned with required the vertical axis. The only
/// requirement of this parameter is to not be collinear to `target - eye`.
///
/// # Example
///
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use std::f32;
/// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
/// let eye = Point3::new(1.0, 2.0, 3.0);
/// let target = Point3::new(2.0, 2.0, 3.0);
/// let up = Vector3::y();
///
/// // Isometry with its rotation part represented as a UnitQuaternion
/// let iso = Isometry3::look_at_rh(&eye, &target, &up);
/// assert_eq!(iso * eye, Point3::origin());
/// assert_relative_eq!(iso * Vector3::x(), -Vector3::z());
///
/// // Isometry with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
/// let iso = IsometryMatrix3::look_at_rh(&eye, &target, &up);
/// assert_eq!(iso * eye, Point3::origin());
/// assert_relative_eq!(iso * Vector3::x(), -Vector3::z());
/// ```
#[inline]
pub fn look_at_rh(eye: &Point3<N>,
target: &Point3<N>,
@ -158,14 +273,37 @@ macro_rules! isometry_construction_impl(
/// Builds a left-handed look-at view matrix.
///
/// This conforms to the common notion of left handed look-at matrix from the computer
/// graphics community.
/// It maps the view direction `target - eye` to the **positive** `z` axis and the `eye` to the origin.
/// This conforms to the common notion of right handed camera look-at **view matrix** from
/// the computer graphics community, i.e. the camera is assumed to look toward its local `z` axis.
///
/// # Arguments
/// * eye - The eye position.
/// * target - The target position.
/// * up - A vector approximately aligned with required the vertical axis. The only
/// requirement of this parameter is to not be collinear to `target - eye`.
///
/// # Example
///
/// ```
/// # #[macro_use] extern crate approx;
/// # extern crate nalgebra;
/// # use std::f32;
/// # use nalgebra::{Isometry3, IsometryMatrix3, Point3, Vector3};
/// let eye = Point3::new(1.0, 2.0, 3.0);
/// let target = Point3::new(2.0, 2.0, 3.0);
/// let up = Vector3::y();
///
/// // Isometry with its rotation part represented as a UnitQuaternion
/// let iso = Isometry3::look_at_lh(&eye, &target, &up);
/// assert_eq!(iso * eye, Point3::origin());
/// assert_relative_eq!(iso * Vector3::x(), Vector3::z());
///
/// // Isometry with its rotation part represented as Rotation3 (a 3x3 rotation matrix).
/// let iso = IsometryMatrix3::look_at_lh(&eye, &target, &up);
/// assert_eq!(iso * eye, Point3::origin());
/// assert_relative_eq!(iso * Vector3::x(), Vector3::z());
/// ```
#[inline]
pub fn look_at_lh(eye: &Point3<N>,
target: &Point3<N>,