multibody_dynamics 0.4.0

Multibody dynamics algorithms in Rust
Documentation 
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<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="Source of the Rust file `/Users/erlendbasso/.cargo/registry/src/github.com-1ecc6299db9ec823/nalgebra-0.32.1/src/base/constraint.rs`."><meta name="keywords" content="rust, rustlang, rust-lang"><title>constraint.rs - source</title><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Regular-1f7d512b176f0f72.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Regular-018c141bf0843ffd.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/FiraSans-Medium-8f9a781e4970d388.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Regular-562dcc5011b6de7d.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceSerif4-Bold-124a1ca42af929b6.ttf.woff2"><link rel="preload" as="font" type="font/woff2" crossorigin href="../../../static.files/SourceCodePro-Semibold-d899c5a5c4aeb14a.ttf.woff2"><link rel="stylesheet" href="../../../static.files/normalize-76eba96aa4d2e634.css"><link rel="stylesheet" href="../../../static.files/rustdoc-6827029ac823cab7.css" id="mainThemeStyle"><link rel="stylesheet" id="themeStyle" href="../../../static.files/light-ebce58d0a40c3431.css"><link rel="stylesheet" disabled href="../../../static.files/dark-f23faae4a2daf9a6.css"><link rel="stylesheet" disabled href="../../../static.files/ayu-8af5e100b21cd173.css"><script id="default-settings" ></script><script src="../../../static.files/storage-d43fa987303ecbbb.js"></script><script defer src="../../../static.files/source-script-5cf2e01a42cc9858.js"></script><script defer src="../../../source-files.js"></script><script defer src="../../../static.files/main-c55e1eb52e1886b4.js"></script><noscript><link rel="stylesheet" href="../../../static.files/noscript-13285aec31fa243e.css"></noscript><link rel="icon" href="https://nalgebra.org/img/favicon.ico"></head><body class="rustdoc source"><!--[if lte IE 11]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"></nav><main><div class="width-limiter"><nav class="sub"><a class="sub-logo-container" href="../../../nalgebra/index.html"><img class="rust-logo" src="../../../static.files/rust-logo-151179464ae7ed46.svg" alt="logo"></a><form class="search-form"><span></span><input class="search-input" name="search" aria-label="Run search in the documentation" autocomplete="off" spellcheck="false" placeholder="Click or press ‘S’ to search, ‘?’ for more options…" type="search"><div id="help-button" title="help" tabindex="-1"><a href="../../../help.html">?</a></div><div id="settings-menu" tabindex="-1"><a href="../../../settings.html" title="settings"><img width="22" height="22" alt="Change settings" src="../../../static.files/wheel-5ec35bf9ca753509.svg"></a></div></form></nav><section id="main-content" class="content"><div class="example-wrap"><pre class="src-line-numbers"><a href="#1" id="1">1</a>
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</pre><pre class="rust"><code><span class="doccomment">//! Compatibility constraints between matrix shapes, e.g., for addition or multiplication.

</span><span class="kw">use </span><span class="kw">crate</span>::base::dimension::{Dim, DimName, Dyn};

<span class="doccomment">/// A type used in `where` clauses for enforcing constraints.
</span><span class="attr">#[derive(Copy, Clone, Debug)]
</span><span class="kw">pub struct </span>ShapeConstraint;

<span class="doccomment">/// Constraints `C1` and `R2` to be equivalent.
</span><span class="kw">pub trait </span>AreMultipliable&lt;R1: Dim, C1: Dim, R2: Dim, C2: Dim&gt;: DimEq&lt;C1, R2&gt; {}

<span class="kw">impl</span>&lt;R1: Dim, C1: Dim, R2: Dim, C2: Dim&gt; AreMultipliable&lt;R1, C1, R2, C2&gt; <span class="kw">for </span>ShapeConstraint <span class="kw">where
    </span>ShapeConstraint: DimEq&lt;C1, R2&gt;
{
}

<span class="doccomment">/// Constraints `D1` and `D2` to be equivalent.
</span><span class="kw">pub trait </span>DimEq&lt;D1: Dim, D2: Dim&gt; {
    <span class="doccomment">/// This is either equal to `D1` or `D2`, always choosing the one (if any) which is a type-level
    /// constant.
    </span><span class="kw">type </span>Representative: Dim;
}

<span class="kw">impl</span>&lt;D: Dim&gt; DimEq&lt;D, D&gt; <span class="kw">for </span>ShapeConstraint {
    <span class="kw">type </span>Representative = D;
}

<span class="kw">impl</span>&lt;D: DimName&gt; DimEq&lt;D, Dyn&gt; <span class="kw">for </span>ShapeConstraint {
    <span class="kw">type </span>Representative = D;
}

<span class="kw">impl</span>&lt;D: DimName&gt; DimEq&lt;Dyn, D&gt; <span class="kw">for </span>ShapeConstraint {
    <span class="kw">type </span>Representative = D;
}

<span class="macro">macro_rules! </span>equality_trait_decl(
    ($(<span class="macro-nonterminal">$doc</span>: expr, <span class="macro-nonterminal">$Trait</span>: ident),* $(,)<span class="kw-2">*</span>) =&gt; {$(
        <span class="comment">// XXX: we can&#39;t do something like `DimEq&lt;D1&gt; for D2` because we would require a blancket impl…
        </span><span class="attr">#[doc = <span class="macro-nonterminal">$doc</span>]
        </span><span class="kw">pub trait </span><span class="macro-nonterminal">$Trait</span>&lt;D1: Dim, D2: Dim&gt;: DimEq&lt;D1, D2&gt; + DimEq&lt;D2, D1&gt; {
            <span class="doccomment">/// This is either equal to `D1` or `D2`, always choosing the one (if any) which is a type-level
            /// constant.
            </span><span class="kw">type </span>Representative: Dim;
        }

        <span class="kw">impl</span>&lt;D: Dim&gt; <span class="macro-nonterminal">$Trait</span>&lt;D, D&gt; <span class="kw">for </span>ShapeConstraint {
            <span class="kw">type </span>Representative = D;
        }

        <span class="kw">impl</span>&lt;D: DimName&gt; <span class="macro-nonterminal">$Trait</span>&lt;D, Dyn&gt; <span class="kw">for </span>ShapeConstraint {
            <span class="kw">type </span>Representative = D;
        }

        <span class="kw">impl</span>&lt;D: DimName&gt; <span class="macro-nonterminal">$Trait</span>&lt;Dyn, D&gt; <span class="kw">for </span>ShapeConstraint {
            <span class="kw">type </span>Representative = D;
        }
    )<span class="kw-2">*</span>}
);

<span class="macro">equality_trait_decl!</span>(
    <span class="string">&quot;Constraints `D1` and `D2` to be equivalent. \
     They are both assumed to be the number of \
     rows of a matrix.&quot;</span>,
    SameNumberOfRows,
    <span class="string">&quot;Constraints `D1` and `D2` to be equivalent. \
     They are both assumed to be the number of \
     columns of a matrix.&quot;</span>,
    SameNumberOfColumns
);

<span class="doccomment">/// Constraints D1 and D2 to be equivalent, where they both designate dimensions of algebraic
/// entities (e.g. square matrices).
</span><span class="kw">pub trait </span>SameDimension&lt;D1: Dim, D2: Dim&gt;:
    SameNumberOfRows&lt;D1, D2&gt; + SameNumberOfColumns&lt;D1, D2&gt;
{
    <span class="doccomment">/// This is either equal to `D1` or `D2`, always choosing the one (if any) which is a type-level
    /// constant.
    </span><span class="kw">type </span>Representative: Dim;
}

<span class="kw">impl</span>&lt;D: Dim&gt; SameDimension&lt;D, D&gt; <span class="kw">for </span>ShapeConstraint {
    <span class="kw">type </span>Representative = D;
}

<span class="kw">impl</span>&lt;D: DimName&gt; SameDimension&lt;D, Dyn&gt; <span class="kw">for </span>ShapeConstraint {
    <span class="kw">type </span>Representative = D;
}

<span class="kw">impl</span>&lt;D: DimName&gt; SameDimension&lt;Dyn, D&gt; <span class="kw">for </span>ShapeConstraint {
    <span class="kw">type </span>Representative = D;
}
</code></pre></div>
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