Struct parry3d::utils::SdpMatrix3

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pub struct SdpMatrix3<N> {
    pub m11: N,
    pub m12: N,
    pub m13: N,
    pub m22: N,
    pub m23: N,
    pub m33: N,
}

Expand description

A 3x3 symmetric-definite-positive matrix.

Fields

m11: N

The component at the first row and first column of this matrix.

m12: N

The component at the first row and second column of this matrix.

m13: N

The component at the first row and third column of this matrix.

m22: N

The component at the second row and second column of this matrix.

m23: N

The component at the second row and third column of this matrix.

m33: N

The component at the third row and third column of this matrix.

Implementations

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impl<N: SimdRealField + Copy> SdpMatrix3<N>

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pub fn new(m11: N, m12: N, m13: N, m22: N, m23: N, m33: N) -> Self

A new SDP 3x3 matrix with the given components.

Because the matrix is symmetric, only the lower off-diagonal components is required.

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pub fn from_sdp_matrix(mat: Matrix3<N>) -> Self

Build an SdpMatrix3 structure from a plain matrix, assuming it is SDP.

No check is performed to ensure mat is actually SDP.

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pub fn zero() -> Self

Create a new SDP matrix filled with zeros.

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pub fn diagonal(val: N) -> Self

Create a new SDP matrix with its diagonal filled with val, and its off-diagonal elements set to zero.

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pub fn is_zero(&self) -> bool

Are all components of this matrix equal to zero?

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pub fn inverse_unchecked(&self) -> Self

Compute the inverse of this SDP matrix without performing any inversibility check.

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pub fn quadform3x2(&self, m: &Matrix3x2<N>) -> SdpMatrix2<N>

Compute the quadratic form m.transpose() * self * m.

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pub fn quadform(&self, m: &Matrix3<N>) -> Self

Compute the quadratic form m.transpose() * self * m.

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pub fn add_diagonal(&self, elt: N) -> Self

Adds elt to the diagonal components of self.

Trait Implementations

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impl<N: Add<N>> Add<SdpMatrix3<N>> for SdpMatrix3<N>

type Output = SdpMatrix3<<N as Add<N>>::Output>

The resulting type after applying the + operator.

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fn add(self, rhs: SdpMatrix3<N>) -> Self::Output

Performs the + operation. Read more

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impl<N: Clone> Clone for SdpMatrix3<N>

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fn clone(&self) -> SdpMatrix3<N>

Returns a copy of the value. Read more

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

Performs copy-assignment from source. Read more

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impl<N: Debug> Debug for SdpMatrix3<N>

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

Formats the value using the given formatter. Read more

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impl<T> From<[SdpMatrix3<f32>; 4]> for SdpMatrix3<T> where
T: From<[Real ; 4]>,

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fn from(data: [SdpMatrix3<Real>; 4]) -> Self

Converts to this type from the input type.

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impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3_usize>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3_usize>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>

The resulting type after applying the * operator.

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fn mul(self, rhs: Vector3<N>) -> Self::Output

Performs the * operation. Read more

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impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3_usize>, Const<2_usize>, ArrayStorage<N, 3_usize, 2_usize>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3_usize>, Const<2_usize>, ArrayStorage<N, 3_usize, 2_usize>>

The resulting type after applying the * operator.

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fn mul(self, rhs: Matrix3x2<N>) -> Self::Output

Performs the * operation. Read more

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impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3_usize>, Const<3_usize>, ArrayStorage<N, 3_usize, 3_usize>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3_usize>, Const<3_usize>, ArrayStorage<N, 3_usize, 3_usize>>

The resulting type after applying the * operator.

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fn mul(self, rhs: Matrix3<N>) -> Self::Output

Performs the * operation. Read more

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impl Mul<f32> for SdpMatrix3<Real>

type Output = SdpMatrix3<f32>

The resulting type after applying the * operator.

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fn mul(self, rhs: Real) -> Self::Output

Performs the * operation. Read more

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impl<N: PartialEq> PartialEq<SdpMatrix3<N>> for SdpMatrix3<N>

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fn eq(&self, other: &SdpMatrix3<N>) -> bool

This method tests for self and other values to be equal, and is used by ==. Read more

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fn ne(&self, other: &SdpMatrix3<N>) -> bool

This method tests for !=.

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impl<N: Copy> Copy for SdpMatrix3<N>

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impl<N> StructuralPartialEq for SdpMatrix3<N>

Auto Trait Implementations

impl<N> RefUnwindSafe for SdpMatrix3<N> where
N: RefUnwindSafe,

impl<N> Send for SdpMatrix3<N> where
N: Send,

impl<N> Sync for SdpMatrix3<N> where
N: Sync,

impl<N> Unpin for SdpMatrix3<N> where
N: Unpin,

impl<N> UnwindSafe for SdpMatrix3<N> where
N: UnwindSafe,

Blanket Implementations

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impl<T> Any for T where
T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more

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impl<T> Borrow<T> for T where
T: ?Sized,

const: unstable · source

fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more

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impl<T> BorrowMut<T> for T where
T: ?Sized,

const: unstable · source

fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more

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impl<T> Downcast for T where
T: Any,

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fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait. Read more

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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait. Read more

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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s. Read more

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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s. Read more

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impl<T> DowncastSync for T where
T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait. Read more

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impl<T> From<T> for T

const: unstable · source

fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into for T where
U: From<T>,

const: unstable · source

fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same<T> for T

type Output = T

Should always be Self

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impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more

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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).

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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.

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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.

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impl<T> ToOwned for T where
T: Clone,

type Owned = T

The resulting type after obtaining ownership.

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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more

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fn clone_into(&self, target: &mut T)

🔬 This is a nightly-only experimental API. (toowned_clone_into)

Uses borrowed data to replace owned data, usually by cloning. Read more

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impl<T, U> TryFrom for T where
U: Into<T>,

type Error = Infallible

The type returned in the event of a conversion error.

const: unstable · source

fn try_from(value: U) -> Result<T, <T as TryFrom>::Error>

Performs the conversion.

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impl<T, U> TryInto for T where
U: TryFrom<T>,

type Error = >::Error

The type returned in the event of a conversion error.

const: unstable · source

fn try_into(self) -> Result<U, >::Error>

Performs the conversion.

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Struct parry3d::utils::SdpMatrix3

Fields

Implementations

impl<N: SimdRealField + Copy> SdpMatrix3<N>

pub fn new(m11: N, m12: N, m13: N, m22: N, m23: N, m33: N) -> Self

pub fn from_sdp_matrix(mat: Matrix3<N>) -> Self

pub fn zero() -> Self

pub fn diagonal(val: N) -> Self

pub fn is_zero(&self) -> bool

pub fn inverse_unchecked(&self) -> Self

pub fn quadform3x2(&self, m: &Matrix3x2<N>) -> SdpMatrix2<N>

pub fn quadform(&self, m: &Matrix3<N>) -> Self

pub fn add_diagonal(&self, elt: N) -> Self

Trait Implementations

impl<N: Add<N>> Add<SdpMatrix3<N>> for SdpMatrix3<N>

type Output = SdpMatrix3<<N as Add<N>>::Output>

fn add(self, rhs: SdpMatrix3<N>) -> Self::Output

impl<N: Clone> Clone for SdpMatrix3<N>

fn clone(&self) -> SdpMatrix3<N>

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

impl<N: Debug> Debug for SdpMatrix3<N>

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

impl<T> From<[SdpMatrix3<f32>; 4]> for SdpMatrix3<T> where T: From<[Real; 4]>,

fn from(data: [SdpMatrix3<Real>; 4]) -> Self

impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3_usize>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3_usize>, Const<1_usize>, ArrayStorage<N, 3_usize, 1_usize>>

fn mul(self, rhs: Vector3<N>) -> Self::Output

impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3_usize>, Const<2_usize>, ArrayStorage<N, 3_usize, 2_usize>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3_usize>, Const<2_usize>, ArrayStorage<N, 3_usize, 2_usize>>

fn mul(self, rhs: Matrix3x2<N>) -> Self::Output

impl<N: SimdRealField + Copy> Mul<Matrix<N, Const<3_usize>, Const<3_usize>, ArrayStorage<N, 3_usize, 3_usize>>> for SdpMatrix3<N>

type Output = Matrix<N, Const<3_usize>, Const<3_usize>, ArrayStorage<N, 3_usize, 3_usize>>

fn mul(self, rhs: Matrix3<N>) -> Self::Output

impl Mul<f32> for SdpMatrix3<Real>

type Output = SdpMatrix3<f32>

fn mul(self, rhs: Real) -> Self::Output

impl<N: PartialEq> PartialEq<SdpMatrix3<N>> for SdpMatrix3<N>

fn eq(&self, other: &SdpMatrix3<N>) -> bool

fn ne(&self, other: &SdpMatrix3<N>) -> bool

impl<N: Copy> Copy for SdpMatrix3<N>

impl<N> StructuralPartialEq for SdpMatrix3<N>

Auto Trait Implementations

impl<N> RefUnwindSafe for SdpMatrix3<N> where N: RefUnwindSafe,

impl<N> Send for SdpMatrix3<N> where N: Send,

impl<N> Sync for SdpMatrix3<N> where N: Sync,

impl<N> Unpin for SdpMatrix3<N> where N: Unpin,

impl<N> UnwindSafe for SdpMatrix3<N> where N: UnwindSafe,

Blanket Implementations

impl<T> Any for T where T: 'static + ?Sized,

fn type_id(&self) -> TypeId

impl<T> Borrow<T> for T where T: ?Sized,

fn borrow(&self) -> &T

impl<T> BorrowMut<T> for T where T: ?Sized,

fn borrow_mut(&mut self) -> &mut T

impl<T> Downcast for T where T: Any,

fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>

fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>

fn as_any(&self) -> &(dyn Any + 'static)

fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

impl<T> DowncastSync for T where T: Any + Send + Sync,

fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send + 'static>

impl<T> From<T> for T

fn from(t: T) -> T

impl<T, U> Into<U> for T where U: From<T>,

fn into(self) -> U

impl<T> Same<T> for T

type Output = T

impl<SS, SP> SupersetOf<SS> for SP where SS: SubsetOf<SP>,

fn to_subset(&self) -> Option<SS>

fn is_in_subset(&self) -> bool

fn to_subset_unchecked(&self) -> SS

fn from_subset(element: &SS) -> SP

impl<T> ToOwned for T where T: Clone,

type Owned = T

fn to_owned(&self) -> T

fn clone_into(&self, target: &mut T)

impl<T, U> TryFrom<U> for T where U: Into<T>,

type Error = Infallible

fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

impl<T, U> TryInto<U> for T where U: TryFrom<T>,

impl<T> From<[SdpMatrix3<f32>; 4]> for SdpMatrix3<T> where
T: From<[Real ; 4]>,

impl<N> RefUnwindSafe for SdpMatrix3<N> where
N: RefUnwindSafe,

impl<N> Send for SdpMatrix3<N> where
N: Send,

impl<N> Sync for SdpMatrix3<N> where
N: Sync,

impl<N> Unpin for SdpMatrix3<N> where
N: Unpin,

impl<N> UnwindSafe for SdpMatrix3<N> where
N: UnwindSafe,

impl<T> Any for T where
T: 'static + ?Sized,

impl<T> Borrow<T> for T where
T: ?Sized,

impl<T> BorrowMut<T> for T where
T: ?Sized,

impl<T> Downcast for T where
T: Any,

impl<T> DowncastSync for T where
T: Any + Send + Sync,

impl<T, U> Into<U> for T where
U: From<T>,

impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,

impl<T> ToOwned for T where
T: Clone,

impl<T, U> TryFrom<U> for T where
U: Into<T>,

impl<T, U> TryInto<U> for T where
U: TryFrom<T>,

impl<T> Scalar for T where
T: 'static + Clone + PartialEq<T> + Debug,