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Rename some of the variables in dual-quaternion doc-tests.

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Crozet Sébastien 2021-02-25 14:45:26 +01:00
parent c408e09e28
commit bf0f3163ce
2 changed files with 14 additions and 14 deletions
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26
src/geometry/dual_quaternion.rs
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@ -316,7 +316,7 @@ impl<N: RealField + UlpsEq<Epsilon = N>> UlpsEq for DualQuaternion<N> {
} }
} }
/// A unit quaternions. May be used to represent a rotation. /// A unit quaternions. May be used to represent a rotation followed by a translation.
pub type UnitDualQuaternion<N> = Unit<DualQuaternion<N>>; pub type UnitDualQuaternion<N> = Unit<DualQuaternion<N>>;
impl<N: Scalar + ClosedNeg + PartialEq + SimdRealField> PartialEq for UnitDualQuaternion<N> { impl<N: Scalar + ClosedNeg + PartialEq + SimdRealField> PartialEq for UnitDualQuaternion<N> {
@ -471,10 +471,10 @@ where
/// # use nalgebra::{UnitDualQuaternion, DualQuaternion, Quaternion}; /// # use nalgebra::{UnitDualQuaternion, DualQuaternion, Quaternion};
/// let qr = Quaternion::new(1.0, 2.0, 3.0, 4.0); /// let qr = Quaternion::new(1.0, 2.0, 3.0, 4.0);
/// let qd = Quaternion::new(5.0, 6.0, 7.0, 8.0); /// let qd = Quaternion::new(5.0, 6.0, 7.0, 8.0);
/// let iso1 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qr, qd)); /// let dq1 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qr, qd));
/// let iso2 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qd, qr)); /// let dq2 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qd, qr));
/// let iso_to = iso1.isometry_to(&iso2); /// let dq_to = dq1.isometry_to(&dq2);
/// assert_relative_eq!(iso_to * iso1, iso2, epsilon = 1.0e-6); /// assert_relative_eq!(dq_to * dq1, dq2, epsilon = 1.0e-6);
/// ``` /// ```
#[inline] #[inline]
pub fn isometry_to(&self, other: &Self) -> Self { pub fn isometry_to(&self, other: &Self) -> Self {
@ -545,7 +545,7 @@ where
} }
/// Screw linear interpolation between two unit quaternions. This creates a /// Screw linear interpolation between two unit quaternions. This creates a
/// smooth arc from one isometry to another. /// smooth arc from one dual-quaternion to another.
/// ///
/// Panics if the angle between both quaternion is 180 degrees (in which case the interpolation /// Panics if the angle between both quaternion is 180 degrees (in which case the interpolation
/// is not well-defined). Use `.try_sclerp` instead to avoid the panic. /// is not well-defined). Use `.try_sclerp` instead to avoid the panic.
@ -754,9 +754,9 @@ where
} }
/// Rotate and translate a point by the inverse of this unit quaternion. /// Rotate and translate a point by the inverse of this unit quaternion.
/// This may be ///
/// cheaper than inverting the unit dual quaternion and transforming the /// This may be cheaper than inverting the unit dual quaternion and
/// point. /// transforming the point.
/// ///
/// ``` /// ```
/// # #[macro_use] extern crate approx; /// # #[macro_use] extern crate approx;
@ -777,10 +777,10 @@ where
} }
/// Rotate a vector by the inverse of this unit quaternion, ignoring the /// Rotate a vector by the inverse of this unit quaternion, ignoring the
/// translational component /// translational component.
/// This may be ///
/// cheaper than inverting the unit dual quaternion and transforming the /// This may be cheaper than inverting the unit dual quaternion and
/// vector. /// transforming the vector.
/// ///
/// ``` /// ```
/// # #[macro_use] extern crate approx; /// # #[macro_use] extern crate approx;

2
src/geometry/dual_quaternion_ops.rs
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@ -796,7 +796,7 @@ dual_quaternion_op_impl!(
(U3, U1), (U4, U1); (U3, U1), (U4, U1);
self: &'a Isometry3<N>, rhs: &'b UnitDualQuaternion<N>, self: &'a Isometry3<N>, rhs: &'b UnitDualQuaternion<N>,
Output = UnitDualQuaternion<N> => U3, U1; Output = UnitDualQuaternion<N> => U3, U1;
// TODO: can we avoid the conversion from a rotation matrix? // TODO: can we avoid the conversion from a rotation matrix?
UnitDualQuaternion::<N>::from_isometry(self) / rhs; UnitDualQuaternion::<N>::from_isometry(self) / rhs;
'a, 'b); 'a, 'b);