From d759912327da92a419f48ff744b6f9f6f93b6d54 Mon Sep 17 00:00:00 2001 From: sebcrozet Date: Sun, 31 Mar 2019 17:05:24 +0200 Subject: [PATCH] Update changelog. --- CHANGELOG.md | 36 ++++++++++++++++++++++++++++++++---- 1 file changed, 32 insertions(+), 4 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 15d934cd..2882d604 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -4,19 +4,47 @@ documented here. This project adheres to [Semantic Versioning](http://semver.org/). -## [0.18.0] - WIP +## [0.18.0] This release adds full complex number support to nalgebra. This includes all common vector/matrix operations as well as matrix decomposition. This excludes geometric type (like `Isometry`, `Rotation`, `Translation`, etc.) from the `geometry` module. ### Added +#### Quaternion and geometric operations + * Add trigonometric functions for quaternions: `.cos, .sin, .tan, .acos, .asin, .atan, .cosh, .sinh, .tanh, .acosh, .asinh, .atanh`. + * Add geometric algebra operations for quaternions: `.inner, .outer, .project, .rejection` * Add `.renormalize` to `Unit<...>` and `Rotation3` to correct potential drift due to repeated operations. - Those drifts can cause them not to be pure rotations anymore. + Those drifts could cause them not to be pure rotations anymore. + +#### Convolution + * `.convolve_full(kernel)` returns the convolution of `self` by `kernel`. + * `.convolve_valid(kernel)` returns the convolution of `self` by `kernel` after removal of all the elements relying on zero-padding. + * `.convolve_same(kernel)` returns the convolution of `self` by `kernel` with a result of the same size as `self`. + +#### Complex number support * Add the `::from_matrix` constructor too all rotation types to extract a rotation from a raw matrix. * Add the `::from_matrix_eps` constructor too all rotation types to extract a rotation from a raw matrix. This takes more argument than `::from_matrix` to control the convergence of the underlying optimization algorithm. - * Add trigonometric functions for quaternions: `.cos, .sin, .tan, .acos, .asin, .atan, .cosh, .sinh, .tanh, .acosh, .asinh, .atanh`. - * Add geometric algebra operations for quaternions: `.inner, .outer, .project, .rejection` + * Add `.camax()` which returns the matrix component with the greatest L1-norm. + * Add `.camin()` which returns the matrix component with the smallest L1-norm. + * Add `.ad_mul(b)` for matrix-multiplication of `self.adjoint() * b`. + * Add `.ad_mul_to(b)` which is the same as `.ad_mul` but with a provided matrix to be filled with the result of the multiplication. + * Add BLAS operations involving complex conjugation (following similar names as the original BLAS spec): + * `.dotc(rhs)` equal to `self.adjoint() * rhs`. + * `.gerc(alpha, x, y, beta)` equivalent to `self = alpha * x * y.adjoint() + beta * self` + * `.hegerc` which is like `gerc` but for Hermitian matrices. + * `.syger` which is the new name of `.ger_symm` which is equivalent to `self = alpha * x * y.transpose() + beta * self`. + * `.sygemv` which is the new name of `.gemv_symm` which is equivalent to `self = alpha * a * x + beta * self` with `a` symmetric. + * `.hegemv(alpha, a, x, beta)` which is like `.sygemv` but with `a` Hermitian. + * `.gemv_ad(alpha, a, x, beta)` which is equivalent to `self = alpha * a.adjoint() * x + beta * self`. + * `.gemm_ad(alpha, a, b, beta)` which is equivalent to `self = alpha * a.adjoint() * b + beta * self`. + * `.icamax()` which returns the index of the complex vector component with the greatest L1-norm. + +Note that all the existing BLAS operation will still work for all fields, including floats and complex numbers. + +### Renamed + * `RealSchur` has been renamed `Schur` because it can now work with complex matrices. + ## [0.17.0]