forked from M-Labs/nalgebra
Rename some of the variables in dual-quaternion doc-tests.
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@ -316,7 +316,7 @@ impl<N: RealField + UlpsEq<Epsilon = N>> UlpsEq for DualQuaternion<N> {
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}
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}
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/// A unit quaternions. May be used to represent a rotation.
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/// A unit quaternions. May be used to represent a rotation followed by a translation.
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pub type UnitDualQuaternion<N> = Unit<DualQuaternion<N>>;
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impl<N: Scalar + ClosedNeg + PartialEq + SimdRealField> PartialEq for UnitDualQuaternion<N> {
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@ -471,10 +471,10 @@ where
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/// # use nalgebra::{UnitDualQuaternion, DualQuaternion, Quaternion};
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/// let qr = Quaternion::new(1.0, 2.0, 3.0, 4.0);
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/// let qd = Quaternion::new(5.0, 6.0, 7.0, 8.0);
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/// let iso1 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qr, qd));
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/// let iso2 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qd, qr));
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/// let iso_to = iso1.isometry_to(&iso2);
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/// assert_relative_eq!(iso_to * iso1, iso2, epsilon = 1.0e-6);
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/// let dq1 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qr, qd));
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/// let dq2 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qd, qr));
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/// let dq_to = dq1.isometry_to(&dq2);
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/// assert_relative_eq!(dq_to * dq1, dq2, epsilon = 1.0e-6);
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/// ```
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#[inline]
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pub fn isometry_to(&self, other: &Self) -> Self {
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@ -545,7 +545,7 @@ where
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}
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/// Screw linear interpolation between two unit quaternions. This creates a
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/// smooth arc from one isometry to another.
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/// smooth arc from one dual-quaternion to another.
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///
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/// Panics if the angle between both quaternion is 180 degrees (in which case the interpolation
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/// is not well-defined). Use `.try_sclerp` instead to avoid the panic.
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@ -754,9 +754,9 @@ where
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}
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/// Rotate and translate a point by the inverse of this unit quaternion.
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/// This may be
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/// cheaper than inverting the unit dual quaternion and transforming the
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/// point.
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///
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/// This may be cheaper than inverting the unit dual quaternion and
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/// transforming the point.
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///
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/// ```
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/// # #[macro_use] extern crate approx;
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@ -777,10 +777,10 @@ where
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}
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/// Rotate a vector by the inverse of this unit quaternion, ignoring the
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/// translational component
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/// This may be
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/// cheaper than inverting the unit dual quaternion and transforming the
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/// vector.
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/// translational component.
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///
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/// This may be cheaper than inverting the unit dual quaternion and
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/// transforming the vector.
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///
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/// ```
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/// # #[macro_use] extern crate approx;
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@ -796,7 +796,7 @@ dual_quaternion_op_impl!(
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(U3, U1), (U4, U1);
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self: &'a Isometry3<N>, rhs: &'b UnitDualQuaternion<N>,
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Output = UnitDualQuaternion<N> => U3, U1;
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// TODO: can we avoid the conversion from a rotation matrix?
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// TODO: can we avoid the conversion from a rotation matrix?
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UnitDualQuaternion::<N>::from_isometry(self) / rhs;
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'a, 'b);
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