# Static Math in Rust programming language
- This crate take advantage of the static arrays in Rust for fast operations in
stack memory.
- This crate could be used in an `no-std` environment.
- The determinant of the matrixs are evaluated "in-place" without loops and code
bifurcations
- The use cases can be: Robotics, Game programming, Simulations ...etc.
The matrix types `Mnn` (where `n=2..6`) implements the Methods from the
`LinearAlgebra` trait:
- `det()`: Determinant of the matrix
- `inverse()`: Inverse of the matrix
- `qr()`: QR decomposition of the matrix
- `norm2()`: norm of the matrix
- `transpose()`: transpose of the matrix
- `trace()`: trace of the matrix
- `shape()`: shape of the matrix
## Benchmarks
Using the criterion crate:
https://github.com/bheisler/criterion.rs
this are the results for one operation(6x6 matrix inverse):
```text
inverse 6x6 time: [19.912 us 20.047 us 20.193 us]
change: [-32.374% -30.094% -28.425%] (p = 0.00 < 0.05)
Performance has improved.
```
you can look the bench here: [bench](benches/bench_inverse.rs)
The same Matrix and test but in Julia language:
```text
BenchmarkTools.Trial:
memory estimate: 33.48 KiB
allocs estimate: 455
--------------
minimum time: 1.536 ms (0.00% GC)
median time: 1.566 ms (0.00% GC)
mean time: 1.643 ms (0.62% GC)
maximum time: 20.027 ms (78.89% GC)
--------------
samples: 3040
evals/sample: 1
```
## TODOS:
- [ ] Eigenvalues and Eigenvectors
- [ ] `expm()`: Exponential matrix implementation
- [X] QR decomposition
- [ ] `Quaternion` type and methods