sguaba 0.10.3

Hard to misuse rigid body transforms (aka "spatial math") for engineers with other things to worry about than linear algebra.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153

//! Math operations that work in both std and no-std environments.
//!
//! This module provides a unified interface for mathematical operations that can use either
//! the standard library (when the `std` feature is enabled) or `libm` (in no-std environments).

#[cfg(not(any(feature = "std", feature = "libm")))]
compile_error!(
    "sguaba requires floating-point math support. \
     Enable either the `std` feature (default) or the `libm` feature for no-std environments."
);

/// Extension trait for f64 to provide math operations in a no-std compatible way
pub(crate) trait FloatMath {
    fn sin(self) -> Self;
    fn cos(self) -> Self;
    #[allow(dead_code)]
    fn tan(self) -> Self;
    fn asin(self) -> Self;
    fn acos(self) -> Self;
    fn atan(self) -> Self;
    fn atan2(self, other: Self) -> Self;
    fn sqrt(self) -> Self;
    fn cbrt(self) -> Self;
    fn powi(self, n: i32) -> Self;
    fn abs(self) -> Self;
    fn copysign(self, sign: Self) -> Self;
}

#[cfg(feature = "std")]
impl FloatMath for f64 {
    #[inline]
    fn sin(self) -> Self {
        f64::sin(self)
    }

    #[inline]
    fn cos(self) -> Self {
        f64::cos(self)
    }

    #[inline]
    fn tan(self) -> Self {
        f64::tan(self)
    }

    #[inline]
    fn asin(self) -> Self {
        f64::asin(self)
    }

    #[inline]
    fn acos(self) -> Self {
        f64::acos(self)
    }

    #[inline]
    fn atan(self) -> Self {
        f64::atan(self)
    }

    #[inline]
    fn atan2(self, other: Self) -> Self {
        f64::atan2(self, other)
    }

    #[inline]
    fn sqrt(self) -> Self {
        f64::sqrt(self)
    }

    #[inline]
    fn cbrt(self) -> Self {
        f64::cbrt(self)
    }

    #[inline]
    fn powi(self, n: i32) -> Self {
        f64::powi(self, n)
    }

    #[inline]
    fn abs(self) -> Self {
        f64::abs(self)
    }

    #[inline]
    fn copysign(self, sign: Self) -> Self {
        f64::copysign(self, sign)
    }
}

#[cfg(all(not(feature = "std"), feature = "libm"))]
impl FloatMath for f64 {
    #[inline]
    fn sin(self) -> Self {
        libm::sin(self)
    }

    #[inline]
    fn cos(self) -> Self {
        libm::cos(self)
    }

    #[inline]
    fn tan(self) -> Self {
        libm::tan(self)
    }

    #[inline]
    fn asin(self) -> Self {
        libm::asin(self)
    }

    #[inline]
    fn acos(self) -> Self {
        libm::acos(self)
    }

    #[inline]
    fn atan(self) -> Self {
        libm::atan(self)
    }

    #[inline]
    fn atan2(self, other: Self) -> Self {
        libm::atan2(self, other)
    }

    #[inline]
    fn sqrt(self) -> Self {
        libm::sqrt(self)
    }

    #[inline]
    fn cbrt(self) -> Self {
        libm::cbrt(self)
    }

    #[inline]
    fn powi(self, n: i32) -> Self {
        libm::pow(self, n as f64)
    }

    #[inline]
    fn abs(self) -> Self {
        libm::fabs(self)
    }

    #[inline]
    fn copysign(self, sign: Self) -> Self {
        libm::copysign(self, sign)
    }
}