zmatrix 0.4.2

Compile-time dimensional analysis & physics-aware linear algebra for aerospace and robotics
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
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207

use crate::physics::basic::{AngularAcceleration, AngularAccelerationType, Coef, Vector3};
use crate::utils::float;

impl Vector3<AngularAcceleration> {
    pub fn limit_float(&self, threshold: f64, angular_acceleration_type: AngularAccelerationType) -> Self {
        let (x, y, z) = match angular_acceleration_type {
            AngularAccelerationType::RadperSecond2 => (
                float::limit_float(self.x.as_rad_per_second2(), threshold),
                float::limit_float(self.y.as_rad_per_second2(), threshold),
                float::limit_float(self.z.as_rad_per_second2(), threshold),
            ),
            AngularAccelerationType::DegPerSecond2 => (
                float::limit_float(self.x.as_deg_per_second2(), threshold),
                float::limit_float(self.y.as_deg_per_second2(), threshold),
                float::limit_float(self.z.as_deg_per_second2(), threshold),
            ),
        };
        Self {
            x: AngularAcceleration { v: x, default_type: angular_acceleration_type },
            y: AngularAcceleration { v: y, default_type: angular_acceleration_type },
            z: AngularAcceleration { v: z, default_type: angular_acceleration_type },
        }
    }

    pub fn to_f32_array(&self) -> [f32; 3] {
        let result: [f32; 3] = [self.x.as_rad_per_second2() as f32, self.y.as_rad_per_second2() as f32, self.z.as_rad_per_second2() as f32];
        result
    }

    pub fn to_vector3_coef(&self, angular_acceleration_type: AngularAccelerationType) -> Vector3<Coef> {
        match angular_acceleration_type {
            AngularAccelerationType::RadperSecond2 => {
                let (x, y, z) = (self.x.as_rad_per_second2(), self.y.as_rad_per_second2(), self.z.as_rad_per_second2());
                Vector3::<Coef>::from_array([x, y, z])
            }
            AngularAccelerationType::DegPerSecond2 => {
                let (x, y, z) = (self.x.as_deg_per_second2(), self.y.as_deg_per_second2(), self.z.as_deg_per_second2());
                Vector3::<Coef>::from_array([x, y, z])
            }
        }
    }

    pub fn from_vector_coef(coef: Vector3<Coef>, angular_acceleration_type: AngularAccelerationType) -> Vector3<AngularAcceleration> {
        let x = AngularAcceleration {
            v: coef.x.v,
            default_type: angular_acceleration_type,
        };
        let y = AngularAcceleration {
            v: coef.y.v,
            default_type: angular_acceleration_type,
        };
        let z = AngularAcceleration {
            v: coef.z.v,
            default_type: angular_acceleration_type,
        };
        Vector3::new(x, y, z)
    }

    pub fn from_array_with_unit(array: [f64; 3], angular_acceleration_type: AngularAccelerationType) -> Vector3<AngularAcceleration> {
        let [x, y, z] = array;
        let x = AngularAcceleration {
            v: x,
            default_type: angular_acceleration_type,
        };
        let y = AngularAcceleration {
            v: y,
            default_type: angular_acceleration_type,
        };
        let z = AngularAcceleration {
            v: z,
            default_type: angular_acceleration_type,
        };
        Vector3::new(x, y, z)
    }
}

#[cfg(test)]
mod test {
    use approx::assert_relative_eq;
    use super::*;

    #[test]
    fn test_limit_float() {
        let v = Vector3::new(
            AngularAcceleration::from_rad_per_second2(1.0),
            AngularAcceleration::from_rad_per_second2(-5.0),
            AngularAcceleration::from_rad_per_second2(3.0),
        );
        let result = v.limit_float(3.0, AngularAccelerationType::RadperSecond2);
        assert_relative_eq!(result.x.as_rad_per_second2(), 1.0);
        assert_relative_eq!(result.y.as_rad_per_second2(), -3.0);
        assert_relative_eq!(result.z.as_rad_per_second2(), 3.0);

        let result = v.limit_float(1e10, AngularAccelerationType::DegPerSecond2);
        assert_relative_eq!(result.x.as_deg_per_second2(), 57.29577951308232);
        assert_relative_eq!(result.y.as_deg_per_second2(), -286.4788975654116);
        assert_relative_eq!(result.z.as_deg_per_second2(), 171.88733853924697);
    }

    #[test]
    fn test_to_f32_array() {
        let a:Vector3<AngularAcceleration> = Vector3::new(
            AngularAcceleration::from_rad_per_second2(1.0),
            AngularAcceleration::from_rad_per_second2(2.0),
            AngularAcceleration::from_rad_per_second2(3.0),
        );
        let result  = a.to_f32_array();
        assert_eq!(3,result.len());
        assert_relative_eq!(1.0, result[0]);
        assert_relative_eq!(2.0, result[1]);
        assert_relative_eq!(3.0, result[2]);
    }

    #[test]
    fn test_to_vector3_coef_rad_per_second2() {
        let angular_acceleration_vec = Vector3::new(
            AngularAcceleration::from_rad_per_second2(1.0),
            AngularAcceleration::from_rad_per_second2(2.0),
            AngularAcceleration::from_rad_per_second2(3.0),
        );
        
        let coef_vec = angular_acceleration_vec.to_vector3_coef(AngularAccelerationType::RadperSecond2);
        
        assert_relative_eq!(coef_vec.x, 1.0);
        assert_relative_eq!(coef_vec.y, 2.0);
        assert_relative_eq!(coef_vec.z, 3.0);
    }

    #[test]
    fn test_to_vector3_coef_deg_per_second2() {
        let angular_acceleration_vec = Vector3::new(
            AngularAcceleration::from_rad_per_second2(1.0),     // 1 rad/s² = 57.2958 deg/s²
            AngularAcceleration::from_rad_per_second2(2.0),     // 2 rad/s² = 114.5916 deg/s²
            AngularAcceleration::from_rad_per_second2(3.0),     // 3 rad/s² = 171.8873 deg/s²
        );
        
        let coef_vec = angular_acceleration_vec.to_vector3_coef(AngularAccelerationType::DegPerSecond2);
        
        assert_relative_eq!(coef_vec.x, 57.2958, epsilon = 1e-4);
        assert_relative_eq!(coef_vec.y, 114.5916, epsilon = 1e-4);
        assert_relative_eq!(coef_vec.z, 171.8873, epsilon = 1e-4);
    }

    #[test]
    fn test_from_vector_coef_rad_per_second2() {
        let coef_vec = Vector3::new(
            Coef::new(1.0),
            Coef::new(2.0),
            Coef::new(3.0),
        );

        let angular_acceleration_vec = Vector3::<AngularAcceleration>::from_vector_coef(coef_vec, AngularAccelerationType::RadperSecond2);

        assert_relative_eq!(angular_acceleration_vec.x.as_rad_per_second2(), 1.0);
        assert_relative_eq!(angular_acceleration_vec.y.as_rad_per_second2(), 2.0);
        assert_relative_eq!(angular_acceleration_vec.z.as_rad_per_second2(), 3.0);
    }

    #[test]
    fn test_from_vector_coef_deg_per_second2() {
        let coef_vec = Vector3::new(
            Coef::new(57.2958),
            Coef::new(114.5916),
            Coef::new(171.8873),
        );

        let angular_acceleration_vec = Vector3::<AngularAcceleration>::from_vector_coef(coef_vec, AngularAccelerationType::DegPerSecond2);

        assert_relative_eq!(angular_acceleration_vec.x.as_deg_per_second2(), 57.2958);
        assert_relative_eq!(angular_acceleration_vec.y.as_deg_per_second2(), 114.5916);
        assert_relative_eq!(angular_acceleration_vec.z.as_deg_per_second2(), 171.8873);
    }

    #[test]
    fn test_from_vector_coef_roundtrip() {
        let original_angular_acceleration_vec = Vector3::new(
            AngularAcceleration::from_rad_per_second2(1.0),
            AngularAcceleration::from_rad_per_second2(2.0),
            AngularAcceleration::from_rad_per_second2(3.0),
        );

        let coef_vec = original_angular_acceleration_vec.to_vector3_coef(AngularAccelerationType::RadperSecond2);
        let reconstructed_angular_acceleration_vec = Vector3::<AngularAcceleration>::from_vector_coef(coef_vec, AngularAccelerationType::RadperSecond2);

        assert_relative_eq!(original_angular_acceleration_vec.x.as_rad_per_second2(), reconstructed_angular_acceleration_vec.x.as_rad_per_second2());
        assert_relative_eq!(original_angular_acceleration_vec.y.as_rad_per_second2(), reconstructed_angular_acceleration_vec.y.as_rad_per_second2());
        assert_relative_eq!(original_angular_acceleration_vec.z.as_rad_per_second2(), reconstructed_angular_acceleration_vec.z.as_rad_per_second2());
    }

    #[test]
    fn test_from_array_with_unit() {
        // 测试 from_array_with_unit 方法
        let array = [1.0, 2.0, 3.0];
        
        // 测试 RadperSecond2 单位
        let angular_acceleration_vec = Vector3::<AngularAcceleration>::from_array_with_unit(array, AngularAccelerationType::RadperSecond2);
        assert_relative_eq!(angular_acceleration_vec.x.as_rad_per_second2(), 1.0);
        assert_relative_eq!(angular_acceleration_vec.y.as_rad_per_second2(), 2.0);
        assert_relative_eq!(angular_acceleration_vec.z.as_rad_per_second2(), 3.0);
        
        // 测试 DegPerSecond2 单位
        let angular_acceleration_vec_deg = Vector3::<AngularAcceleration>::from_array_with_unit(array, AngularAccelerationType::DegPerSecond2);
        assert_relative_eq!(angular_acceleration_vec_deg.x.as_deg_per_second2(), 1.0);
        assert_relative_eq!(angular_acceleration_vec_deg.y.as_deg_per_second2(), 2.0);
        assert_relative_eq!(angular_acceleration_vec_deg.z.as_deg_per_second2(), 3.0);
    }
}