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Make quaternion module private
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The only type contained within is `Quaternion`, so it's simpler to just
re-export that type from the toplevel than it is to have a separate
module.
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@tarcieri
tarcieri committed Mar 28, 2021
1 parent d520055 commit bb15928
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32 changes: 9 additions & 23 deletions src/lib.rs
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//! processing, these approximations are often sufficient and the performance
//! gains worth the lost precision.
//!
//! These approximations are provided by the [micromath::F32Ext] trait which is
//! impl'd for `f32`, providing a drop-in `std`-compatible (sans lost precision) API.
//! These approximations are provided by the [`F32Ext`] trait which is impl'd
//! for `f32`, providing a drop-in `std`-compatible (sans lost precision) API.
//!
//! ```
//! use micromath::F32Ext;
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//!
//! ## Vector types
//!
//! See the [`vector` module] for more information on vector types.
//! See the [`vector`] module for more information on vector types.
//!
//! The following vector types are available, all of which have `pub x` and
//! `pub y` (and on 3D vectors, `pub z`) members:
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//!
//! ## Statistical analysis
//!
//! See the [`statistics` module] for more information on statistical analysis
//! See the [`statistics`] module for more information on statistical analysis
//! traits and functionality.
//!
//! The following traits are available and impl'd for slices and iterators of
//! `f32` (and can be impl'd for other types):
//!
//! - [Mean] - compute arithmetic mean with the `mean()` method
//! - [StdDev] - compute standard deviation with the `stddev()` method
//! - [Trim] - cull outliers from a sample slice with the `trim()` method.
//! - [Variance] - compute variance with the `variance() method
//!
//! ## Quaternions
//!
//! See the [`quaternion` module] for more information.
//!
//! [micromath::F32Ext]: https://docs.rs/micromath/latest/micromath/trait.F32Ext.html
//! [`vector` module]: https://docs.rs/micromath/latest/micromath/vector/index.html
//! [`statistics` module]: https://docs.rs/micromath/latest/micromath/statistics/index.html
//! [`quaternion` module]: https://docs.rs/micromath/latest/micromath/quaternion/index.html
//! [Mean]: https://docs.rs/micromath/latest/micromath/statistics/trait.Mean.html
//! [StdDev]: https://docs.rs/micromath/latest/micromath/statistics/trait.StdDev.html
//! [Trim]: https://docs.rs/micromath/latest/micromath/statistics/trim/trait.Trim.html
//! [Variance]: https://docs.rs/micromath/latest/micromath/statistics/trait.Variance.html
//! - [`Mean`][`statistics::Mean`] - compute arithmetic mean with the `mean()` method.
//! - [`StdDev`][`statistics::StdDev`] - compute standard deviation with the `stddev()` method.
//! - [`Trim`][`statistics::Trim`] - cull outliers from a sample slice with the `trim()` method.
//! - [`Variance`][`statistics::Variance`] - compute variance with the `variance()` method.

#![no_std]
#![cfg_attr(docsrs, feature(doc_cfg))]
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)]

#[cfg(feature = "quaternion")]
#[cfg_attr(docsrs, doc(cfg(feature = "quaternion")))]
pub mod quaternion;
mod quaternion;

#[cfg(feature = "statistics")]
#[cfg_attr(docsrs, doc(cfg(feature = "statistics")))]
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79 changes: 38 additions & 41 deletions src/quaternion.rs
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// Adapted from the madgwick crate: https://github.com/japaric/madgwick
// Copyright (c) 2018 Jorge Aparicio
//
// Original sources dual licensed under your choice of the Apache 2.0
// and/or MIT licenses, which matches this crate's licensing terms.
//
// See toplevel LICENSE-MIT for more information on the MIT license.
// Apache 2.0 license follows:
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

//! Quaternions are a number system that extends the complex numbers which can
//! be used for efficiently computing spatial rotations.
//! Adapted from the `madgwick` crate: <https://github.com/japaric/madgwick>
//! Copyright (c) 2018 Jorge Aparicio
//!
//! The `quaternion` Cargo feature must be enabled to use this functionality.
//! Original sources dual licensed under your choice of the Apache 2.0
//! and/or MIT licenses, which matches this crate's licensing terms.
//!
//! Quaternions are computed as the quotient of two directed lines in a
//! three-dimensional space, or equivalently as the quotient of two vectors.
//! See toplevel LICENSE-MIT for more information on the MIT license.
//! Apache 2.0 license follows:
//!
//! For given real numbers `a`, `b`, `c`, and `d`, they take the form:
//! Licensed under the Apache License, Version 2.0 (the "License");
//! you may not use this file except in compliance with the License.
//! You may obtain a copy of the License at:
//!
//! `a + bi + cj + dk`
//! <https://www.apache.org/licenses/LICENSE-2.0>
//!
//! where `i`, `j`, and `k` are the fundamental quaternion units:
//!
//! `i² = j² = k² = i*j*k = -1`
//!
//! Quaternion multiplication is noncommutative:
//!
//! | x | 1 | i | j | k |
//! |---|----|----|----|----|
//! | 1 | 1 | i | j | k |
//! | i | i | -1 | k | -j |
//! | j | j | -k | -1 | i |
//! | k | k | j | -i | -1 |
//! Unless required by applicable law or agreed to in writing, software
//! distributed under the License is distributed on an "AS IS" BASIS,
//! WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
//! See the License for the specific language governing permissions and
//! limitations under the License.

use core::ops::{AddAssign, Mul, MulAssign, SubAssign};

/// Quaternion
/// Quaternions are a number system that extends the complex numbers which can
/// be used for efficiently computing spatial rotations.
///
/// They're computed as the quotient of two directed lines in a
/// three-dimensional space, or equivalently as the quotient of two vectors.
///
/// For given real numbers `a`, `b`, `c`, and `d`, they take the form:
///
/// `a + bi + cj + dk`
///
/// where `i`, `j`, and `k` are the fundamental quaternion units:
///
/// `i² = j² = k² = i*j*k = -1`
///
/// Quaternion multiplication is non-commutative:
///
/// | x | 1 | i | j | k |
/// |---|----|----|----|----|
/// | 1 | 1 | i | j | k |
/// | i | i | -1 | k | -j |
/// | j | j | -k | -1 | i |
/// | k | k | j | -i | -1 |
#[cfg_attr(docsrs, doc(cfg(feature = "quaternion")))]
#[derive(Clone, Copy, Debug, PartialEq)]
pub struct Quaternion(pub f32, pub f32, pub f32, pub f32);

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