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292 Commits

Author SHA1 Message Date
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ac94fbe831 Add polar decomposition method to main matrix decomposition interface 
Add one more test for decomposition of polar decomposition of rectangular matrix
 2021-12-26 21:01:05 -05:00
metric-space
6ac6e7f75e First compiling commit for take-2 of polar-decomposition: 
Code inspired by this thread: https://github.com/dimforge/nalgebra/pull/656
Main person behind this is LucasCampos
 2021-12-22 00:12:27 -05:00
Sébastien Crozet
88dd5442f3 Add an utility function to check if a slice is sorted in descending order. 2021-12-09 13:32:30 +01:00
Sébastien Crozet
412104fa0a Add comment about the origin of the failing 3x3 SVD matrix 2021-12-09 13:31:39 +01:00
Sébastien Crozet
e0a1b1bc34 Fix the special-case for 3x3 Real SVD 2021-12-09 11:52:37 +01:00
Sébastien Crozet
49e9ceea30 Add dedicated implementations of SVD for 2x2 and 3x3 real matrices. 2021-11-26 17:45:42 +01:00
Sébastien Crozet
10150ec783
Merge pull request #1016 from tpdickso/fix-dual-quaternion-sclerp 
Don't panic ScLERPing `UnitDualQuaternion` with equal rotation
 2021-11-21 17:57:34 +01:00
Christopher Gundler
24d29c4de3 Allow sorting SVD according to singular values 2021-11-08 10:27:53 +01:00
Terence
dfb7b6af22 Don't panic ScLERPing UnitDualQuaternion with equal rotation 
Solves #1013.

Previously, when screw-linearly interpolating two unit dual quaternions
that had an identical orientation, `try_sclerp` would return `None`, as
the operation would introduce a division-by-zero.

This PR splits out the cases where two unit dual quaternions have an
identical orientation from the cases where they have opposite
orientations. In the case where they have identical orientations, the
operation is well-defined, but the exponential parameterization could
not handle it without introducing NaNs. Therefore, the function detects
this case and simply defaults to linearly interpolating the
translational components and using one of the two inputs' rotation
components.

The case where the inputs have opposite rotations is now detected
separately using the dot product of the real (rotation) parts, which was
already being computed anyway.

Also introduces proptests for these specific scenarios, to avoid any
regression.
 2021-10-28 00:02:20 -04:00
Sébastien Crozet
85202f85f7
Merge pull request #986 from Ralith/concise-debug 
Concise Debug impls
 2021-09-25 17:23:14 +02:00
Mateusz Kowalczyk
d50af9dbfb
Add test for Cholesky::new_with_substitute 2021-09-13 09:08:37 +09:00
Benjamin Saunders
0541f13b26 Concise Debug impls 
Replace the verbose derived (or nearly equivalent) Debug impls for
several newtypes with explicit impls that forward to the inner type,
making readable diagnostics logging much easier.
 2021-09-12 10:56:25 -07:00
Sébastien Crozet
148b164aaa Fix tests 2021-08-04 17:56:57 +02:00
Sébastien Crozet
8c6ebf2757 Implement the single-allocator-trait approach. 2021-08-02 18:41:46 +02:00
Violeta Hernández
4bd13a509a Fix botched Search + Replace 2021-07-17 13:58:34 -05:00
Violeta Hernández
c01d591478 We have reached compilation! 2021-07-17 13:01:03 -05:00
nathan.eckert
dd1530adc3 Cargo fmt 2021-07-08 14:20:35 +02:00
nathan.eckert
639382ea49 Add failing test higlighting the issue 2021-07-08 11:23:41 +02:00
Violeta Hernández
281b140365
Fix most clippy warnings 2021-06-18 09:45:37 +02:00
Crozet Sébastien
8810b85a2f Add a point! macro for construction points 
This macro is similar to the `vector!` macro, except that it builds a point instead of a vector.
 2021-05-24 17:53:59 +02:00
Sébastien Crozet
23ac85e896
Merge pull request #886 from Andlon/matrix-macro 
Matrix macro
 2021-05-09 16:52:04 +02:00
Sébastien Crozet
a803271fcc
Merge pull request #889 from dimforge/dvector_deserialize 
Fix potential unsoundness after deserializing a DVector with a bad number or elements.
 2021-05-09 16:50:38 +02:00
Crozet Sébastien
b398a5e189 Re-add conversion between arrays and row vectors. 2021-05-06 18:22:04 +02:00
Crozet Sébastien
5bff5368bf Manually implement Serialize and Deserialize for VecStorage 2021-05-06 18:16:42 +02:00
Andreas Longva
8552fc8385 Cargo fmt 2021-05-03 13:52:34 +02:00
Andreas Longva
041b8c4b2c Add macro sanity tests to macros 2021-05-03 13:52:34 +02:00
Andreas Longva
0bde07f95c Document that feature needs to be enabled, and require macros feature for tests 2021-05-03 13:52:34 +02:00
Crozet Sébastien
73cc9882b2 Fix compilation of nalgebra-lapack 2021-04-12 10:35:35 +02:00
Crozet Sébastien
cc4427e52b Make matrix power work for non-owned matrices. 2021-04-11 14:07:06 +02:00
Crozet Sébastien
24d546d3b6 Rename generic parameter N -> T 2021-04-11 13:57:54 +02:00
Crozet Sébastien
23a7d7475b First compiling version after migrating the geometry module to const-generics. 2021-04-11 13:53:45 +02:00
Crozet Sébastien
d17088398a Replace generic-array with a regular array based on min-const-generics. 2021-04-11 13:53:45 +02:00
Sébastien Crozet
b2dadffcf2
Merge pull request #864 from vks/idiomatic-rand 
More idiomatic use of Rand
 2021-04-11 13:52:48 +02:00
Sébastien Crozet
2ebba30117
Merge pull request #861 from jturner314/fix-cholesky-det-complex 
Fix Cholesky::determinant for complex elements
 2021-04-11 13:49:35 +02:00
Vinzent Steinberg
c8fe49b1e9 Add some comments about random variates 2021-04-10 03:36:21 -03:00
Vinzent Steinberg
bbe1d0cd56 Improve error message for cargo test 
There is a custom compiler error, hinting that the "debug", "compare"
and "rand" feature are required for compiling and running the tests.
However, this error was not displayed when running `cargo test` due to
other compilation errors taking precedence.

This is now avoided by just not compiling the integration tests when the
necessary features are not enabled.
 2021-04-10 00:48:58 -03:00
Jim Turner
cea3bdc8e5 Fix Cholesky::determinant for Complex elements 
The previous implementation was correct only for real elements. The
Cholesky decomposition is `L L^H`, so the determinant is `det(L) *
det(L^H)`. Since `L` is a triangular matrix, `det(L)` is the product
of the diagonal elements of `L`. Since `L^H` is triangular and its
diagonal elements are the conjugates of the diagonal elements of `L`,
`det(L^H)` is the conjugate of `det(L)`. So, the overall determinant
is the product of the diagonal elements of `L` times its conjugate.
 2021-04-09 14:28:16 -04:00
Jim Turner
50fed194f4 Add determinant method to Cholesky 2021-04-07 23:10:19 -04:00
Crozet Sébastien
ff27daf044 Enable rand for tests. 2021-03-02 12:37:00 +01:00
Crozet Sébastien
2e16057e7b Fix some tests requiring a square matrix. 2021-03-01 10:02:45 +01:00
Crozet Sébastien
74f4b0ba4d nalgebra-lapack: run tests with proptest instead of quickcheck. 2021-02-28 18:39:18 +01:00
Crozet Sébastien
6cfd2bca14 Use proptest for all nalgebra tests. 2021-02-28 17:52:14 +01:00
Crozet Sébastien
aeb9f7ea39 Add a matrix.udu() method to compute the UDU decomposition. 2021-02-25 15:49:24 +01:00
Crozet Sébastien
ab0d335b61 Fix tests for the UDU decomposition. 2021-02-25 15:48:44 +01:00
Christopher Rabotin
f6c1aeb07f UDU: add panic test for non symmetric matrix 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
7a49b9eeca UDU: d now stored in VectorN instead of MatrixN 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
a8d40423ea Fixed UDU algorithm 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
d534c3bf9d Trying to break the test to make sure it works 
Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Christopher Rabotin
8dda6714b5 Untested UDU implementation 
Pushing to trigger build

Signed-off-by: Christopher Rabotin <christopher.rabotin@gmail.com>
 2021-02-25 15:48:44 +01:00
Sébastien Crozet
fa2e025a1e
Merge pull request #824 from tpdickso/dual_quaternion 
Implement additional `DualQuaternion` ops and `UnitDualQuaternion`
 2021-02-25 15:46:34 +01:00