forked from M-Labs/nalgebra
28 lines
1.3 KiB
Rust
28 lines
1.3 KiB
Rust
use crate::base::dimension::{U2, U3};
|
|
|
|
use crate::geometry::{Isometry, Rotation2, Rotation3, UnitComplex, UnitQuaternion};
|
|
|
|
/// A 2-dimensional direct isometry using a unit complex number for its rotational part. Also known as a rigid-body motion, or as an element of SE(2).
|
|
pub type Isometry2<N> = Isometry<N, U2, UnitComplex<N>>;
|
|
|
|
/// A 3-dimensional direct isometry using a unit quaternion for its rotational part. Also known as a rigid-body motion, or as an element of SE(3).
|
|
pub type Isometry3<N> = Isometry<N, U3, UnitQuaternion<N>>;
|
|
|
|
/// A 2-dimensional direct isometry using a rotation matrix for its rotational part. Also known as a rigid-body motion, or as an element of SE(2).
|
|
pub type IsometryMatrix2<N> = Isometry<N, U2, Rotation2<N>>;
|
|
|
|
/// A 3-dimensional direct isometry using a rotation matrix for its rotational part. Also known as a rigid-body motion, or as an element of SE(3).
|
|
pub type IsometryMatrix3<N> = Isometry<N, U3, Rotation3<N>>;
|
|
|
|
// This tests that the types correctly implement `Copy`, without having to run tests
|
|
// (when targeting no-std for example).
|
|
#[allow(dead_code)]
|
|
fn ensure_copy() {
|
|
fn is_copy<T: Copy>() {}
|
|
|
|
is_copy::<IsometryMatrix2<f32>>();
|
|
is_copy::<IsometryMatrix3<f32>>();
|
|
is_copy::<Isometry2<f32>>();
|
|
is_copy::<Isometry3<f32>>();
|
|
}
|