Struct Versor 

pub struct Versor<S>(/* private fields */)
where
    S: Zero + One;

Unit quaternion representing an orientation in $\mathbb{R}^3$

Implementations

impl<S: Real> Versor<S>

pub fn normalize(quaternion: Quaternion<S>) -> Self

where S: Debug,

Normalizes the given quaternion.

Panics if the zero quaternion is given.

pub fn noisy(unit_quaternion: Quaternion<S>) -> Self

where S: Debug,

Panic if the given quaternion is not a unit quaternion.

This method checks whether quaternion == quaternion.normalized().

pub fn noisy_approx(unit_quaternion: Quaternion<S>) -> Self

where S: Real + RelativeEq<Epsilon = S>,

Panic if the given quaternion is not a unit quaternion.

Checks if the magnitude is approximately one.

pub fn unchecked(unit_quaternion: Quaternion<S>) -> Self

where S: Debug,

It is a debug panic if the given quaternion is not a unit quaternion.

This method checks whether quaternion == quaternion.normalized().

pub fn unchecked_approx(unit_quaternion: Quaternion<S>) -> Self

where S: Real + RelativeEq<Epsilon = S>,

It is a debug panic if the given quaternion is not a unit quaternion.

Checks if the magnitude is approximately one.

pub fn from_scaled_axis(scaled_axis: &Vector3<S>) -> Self

where S: Debug + Float,

Constructs the rotation using the direction and magnitude of the given vector

Trait Implementations

impl<S> Clone for Versor<S>

where S: Zero + One + Clone,

fn clone(&self) -> Versor<S>

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<S> Debug for Versor<S>

where S: Zero + One + Debug,

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<S> Default for Versor<S>

where S: Zero + One + Default,

fn default() -> Versor<S>

Returns the “default value” for a type.

impl<S: Real> Deref for Versor<S>

type Target = Quaternion<S>

The resulting type after dereferencing.

fn deref(&self) -> &Quaternion<S>

Dereferences the value.

impl<S> From<Rotation3<S>> for Versor<S>

where S: Real + MaybeSerDes + Real + RelativeEq<Epsilon = S>,

fn from(rot: Rotation3<S>) -> Self

Converts to this type from the input type.

impl<S> PartialEq for Versor<S>

where S: Zero + One + PartialEq,

fn eq(&self, other: &Versor<S>) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl<S> Copy for Versor<S>

where S: Zero + One + Copy,

impl<S> Eq for Versor<S>

where S: Zero + One + Eq,

impl<S> StructuralPartialEq for Versor<S>

where S: Zero + One,