1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15

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>>;