Struct quaternion_wrapper::Vector3Wrapper

pub struct Vector3Wrapper<T>(pub Vector3<T>);

Treated as Pure Quaternion.

QuaternionWrapper = ScalarWrapper + Vector3Wrapper

Tuple Fields

0: Vector3<T>

Implementations

impl<T: Float> Vector3Wrapper<T>

pub fn new(v: Vector3<T>) -> Self

Create a new Vector3Wrapper

pub fn unwrap(self) -> Vector3<T>

Returns the Vector3<T>

pub fn matrix_product(self, m: DCM<T>) -> Self

Product of Vector3Wrapper and DCM.

m * self

pub fn sum(self) -> ScalarWrapper<T>

Sum of the element of the vector.

pub fn scale_add(self, s: ScalarWrapper<T>, b: Vector3Wrapper<T>) -> Self

Calculate s*self + b

If the fma feature is enabled, the FMA calculation is performed using the mul_add method. If not enabled, it’s computed by unfused multiply-add (s*a + b).

pub fn hadamard(self, other: Vector3Wrapper<T>) -> Self

Hadamard product of vector.

Calculate a ∘ b

pub fn hadamard_add(self, b: Vector3Wrapper<T>, c: Vector3Wrapper<T>) -> Self

Hadamard product and Addiction of Vector.

Calculate a ∘ b + c

If the fma feature is enabled, the FMA calculation is performed using the mul_add method. If not enabled, it’s computed by unfused multiply-add (s*a + b).

pub fn dot(self, other: Vector3Wrapper<T>) -> ScalarWrapper<T>

Dot product of the vector.

pub fn cross(self, other: Vector3Wrapper<T>) -> Self

Cross product of the vector.

self × other

pub fn norm(self) -> ScalarWrapper<T>

Calcurate the L2 norm of the vector.

pub fn normalize(self) -> Self

Normalization of vector.

If you enter a zero vector, it returns a zero vector.

Examples

// This norm is not 1.
let v = Vector3Wrapper::<f64>::new([1.0, 2.0, 3.0]);
assert!( (1.0 - v.norm().unwrap()).abs() > 1e-12 );
 
// Now that normalized, this norm is 1!
let v_n = v.normalize();
assert!( (1.0 - v_n.norm().unwrap()).abs() < 1e-12 );

pub fn inv(self) -> Self

Calculate the inverse of pure quaternion.

Examples

let v = Vector3Wrapper::<f64>::new( [1.0, 2.0, 3.0] );
 
// Identity quaternion
let id = (v * v.inv()).unwrap();  // = (v.inv() * v).unwrap()
 
assert!( (id.0 - 1.0).abs() < 1e-12 );
assert!( id.1[0].abs() < 1e-12 );
assert!( id.1[1].abs() < 1e-12 );
assert!( id.1[2].abs() < 1e-12 );

pub fn exp(self) -> QuaternionWrapper<T>

Exponential function of vector.

Trait Implementations

impl<T: Float> Add<QuaternionWrapper<T>> for Vector3Wrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the + operator.

fn add(self, other: QuaternionWrapper<T>) -> QuaternionWrapper<T>

Performs the + operation.

impl<T: Float> Add<ScalarWrapper<T>> for Vector3Wrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the + operator.

fn add(self, other: ScalarWrapper<T>) -> QuaternionWrapper<T>

Performs the + operation.

impl<T: Float> Add<Vector3Wrapper<T>> for QuaternionWrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the + operator.

fn add(self, other: Vector3Wrapper<T>) -> Self

Performs the + operation.

impl<T: Float> Add<Vector3Wrapper<T>> for ScalarWrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the + operator.

fn add(self, other: Vector3Wrapper<T>) -> QuaternionWrapper<T>

Performs the + operation.

impl<T: Float> Add<Vector3Wrapper<T>> for Vector3Wrapper<T>

type Output = Vector3Wrapper<T>

The resulting type after applying the + operator.

fn add(self, other: Vector3Wrapper<T>) -> Self

Performs the + operation.

impl<T: Float> AddAssign<Vector3Wrapper<T>> for Vector3Wrapper<T>

fn add_assign(&mut self, other: Vector3Wrapper<T>)

Performs the += operation.

impl<T: Clone> Clone for Vector3Wrapper<T>

fn clone(&self) -> Vector3Wrapper<T>

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<T: Debug> Debug for Vector3Wrapper<T>

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

Formats the value using the given formatter.

impl<T: Float> Div<ScalarWrapper<T>> for Vector3Wrapper<T>

type Output = Vector3Wrapper<T>

The resulting type after applying the / operator.

fn div(self, other: ScalarWrapper<T>) -> Self

Performs the / operation.

impl<T: Float> Mul<QuaternionWrapper<T>> for Vector3Wrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the * operator.

fn mul(self, other: QuaternionWrapper<T>) -> QuaternionWrapper<T>

Performs the * operation.

impl<T: Float> Mul<ScalarWrapper<T>> for Vector3Wrapper<T>

type Output = Vector3Wrapper<T>

The resulting type after applying the * operator.

fn mul(self, other: ScalarWrapper<T>) -> Self

Performs the * operation.

impl<T: Float> Mul<Vector3Wrapper<T>> for QuaternionWrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the * operator.

fn mul(self, other: Vector3Wrapper<T>) -> Self

Performs the * operation.

impl<T: Float> Mul<Vector3Wrapper<T>> for ScalarWrapper<T>

type Output = Vector3Wrapper<T>

The resulting type after applying the * operator.

fn mul(self, other: Vector3Wrapper<T>) -> Vector3Wrapper<T>

Performs the * operation.

impl<T: Float> Mul<Vector3Wrapper<T>> for Vector3Wrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the * operator.

fn mul(self, other: Vector3Wrapper<T>) -> QuaternionWrapper<T>

Performs the * operation.

impl<T: Float> Neg for Vector3Wrapper<T>

type Output = Vector3Wrapper<T>

The resulting type after applying the - operator.

fn neg(self) -> Self

Performs the unary - operation.

impl<T: Float> Sub<QuaternionWrapper<T>> for Vector3Wrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the - operator.

fn sub(self, other: QuaternionWrapper<T>) -> QuaternionWrapper<T>

Performs the - operation.

impl<T: Float> Sub<ScalarWrapper<T>> for Vector3Wrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the - operator.

fn sub(self, other: ScalarWrapper<T>) -> QuaternionWrapper<T>

Performs the - operation.

impl<T: Float> Sub<Vector3Wrapper<T>> for QuaternionWrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the - operator.

fn sub(self, other: Vector3Wrapper<T>) -> Self

Performs the - operation.

impl<T: Float> Sub<Vector3Wrapper<T>> for ScalarWrapper<T>

type Output = QuaternionWrapper<T>

The resulting type after applying the - operator.

fn sub(self, other: Vector3Wrapper<T>) -> QuaternionWrapper<T>

Performs the - operation.

impl<T: Float> Sub<Vector3Wrapper<T>> for Vector3Wrapper<T>

type Output = Vector3Wrapper<T>

The resulting type after applying the - operator.

fn sub(self, other: Vector3Wrapper<T>) -> Self

Performs the - operation.

impl<T: Float> SubAssign<Vector3Wrapper<T>> for Vector3Wrapper<T>

fn sub_assign(&mut self, other: Vector3Wrapper<T>)

Performs the -= operation.

impl<T: Copy> Copy for Vector3Wrapper<T>