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<!DOCTYPE html><html lang="en"><head><meta charset="utf-8"><meta name="viewport" content="width=device-width, initial-scale=1.0"><meta name="generator" content="rustdoc"><meta name="description" content="API documentation for the Rust `Rotation` trait in crate `alga`."><meta name="keywords" content="rust, rustlang, rust-lang, Rotation"><title>alga::linear::Rotation - Rust</title><link rel="stylesheet" type="text/css" href="../../normalize.css"><link rel="stylesheet" type="text/css" href="../../rustdoc.css" id="mainThemeStyle"><link rel="stylesheet" type="text/css" href="../../dark.css"><link rel="stylesheet" type="text/css" href="../../light.css" id="themeStyle"><script src="../../storage.js"></script><noscript><link rel="stylesheet" href="../../noscript.css"></noscript><link rel="shortcut icon" href="../../favicon.ico"><style type="text/css">#crate-search{background-image:url("../../down-arrow.svg");}</style></head><body class="rustdoc trait"><!--[if lte IE 8]><div class="warning">This old browser is unsupported and will most likely display funky things.</div><![endif]--><nav class="sidebar"><div class="sidebar-menu">☰</div><a href='../../alga/index.html'><div class='logo-container'><img src='../../rust-logo.png' alt='logo'></div></a><p class='location'>Trait Rotation</p><div class="sidebar-elems"><div class="block items"><a class="sidebar-title" href="#required-methods">Required Methods</a><div class="sidebar-links"><a href="#tymethod.powf">powf</a><a href="#tymethod.rotation_between">rotation_between</a><a href="#tymethod.scaled_rotation_between">scaled_rotation_between</a></div><a class="sidebar-title" href="#implementors">Implementors</a></div><p class='location'><a href='../index.html'>alga</a>::<wbr><a href='index.html'>linear</a></p><script>window.sidebarCurrent = {name: 'Rotation', ty: 'trait', relpath: ''};</script><script defer src="sidebar-items.js"></script></div></nav><div class="theme-picker"><button id="theme-picker" aria-label="Pick another theme!"><img src="../../brush.svg" width="18" alt="Pick another theme!"></button><div id="theme-choices"></div></div><script src="../../theme.js"></script><nav class="sub"><form class="search-form js-only"><div class="search-container"><div><select id="crate-search"><option value="All crates">All crates</option></select><input class="search-input" name="search" autocomplete="off" spellcheck="false" placeholder="Click or press ‘S’ to search, ‘?’ for more options…" type="search"></div><a id="settings-menu" href="../../settings.html"><img src="../../wheel.svg" width="18" alt="Change settings"></a></div></form></nav><section id="main" class="content"><h1 class='fqn'><span class='out-of-band'><span id='render-detail'><a id="toggle-all-docs" href="javascript:void(0)" title="collapse all docs">[<span class='inner'>−</span>]</a></span><a class='srclink' href='../../src/alga/linear/transformation.rs.html#258-284' title='goto source code'>[src]</a></span><span class='in-band'>Trait <a href='../index.html'>alga</a>::<wbr><a href='index.html'>linear</a>::<wbr><a class="trait" href=''>Rotation</a></span></h1><div class="docblock type-decl hidden-by-usual-hider"><pre class='rust trait'>pub trait Rotation<E: <a class="trait" href="../../alga/linear/trait.EuclideanSpace.html" title="trait alga::linear::EuclideanSpace">EuclideanSpace</a>>: <a class="trait" href="../../alga/linear/trait.OrthogonalTransformation.html" title="trait alga::linear::OrthogonalTransformation">OrthogonalTransformation</a><E, Rotation = Self> + <a class="trait" href="../../alga/linear/trait.DirectIsometry.html" title="trait alga::linear::DirectIsometry">DirectIsometry</a><E, Rotation = Self> {
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fn <a href='#tymethod.powf' class='fnname'>powf</a>(&self, n: E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.RealField" title="type alga::linear::EuclideanSpace::RealField">RealField</a>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self>;
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<div class='item-spacer'></div> fn <a href='#tymethod.rotation_between' class='fnname'>rotation_between</a>(a: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, b: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self>;
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<div class='item-spacer'></div> fn <a href='#tymethod.scaled_rotation_between' class='fnname'>scaled_rotation_between</a>(<br> a: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, <br> b: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, <br> s: E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.RealField" title="type alga::linear::EuclideanSpace::RealField">RealField</a><br> ) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self>;
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}</pre></div><div class='docblock'><p>Subgroups of the n-dimensional rotation group <code>SO(n)</code>.</p>
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</div>
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<h2 id='required-methods' class='small-section-header'>Required methods<a href='#required-methods' class='anchor'></a></h2><div class='methods'><h3 id='tymethod.powf' class='method'><code id='powf.v'>fn <a href='#tymethod.powf' class='fnname'>powf</a>(&self, n: E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.RealField" title="type alga::linear::EuclideanSpace::RealField">RealField</a>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self></code></h3><div class='docblock'><p>Raises this rotation to a power. If this is a simple rotation, the result must be
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equivalent to multiplying the rotation angle by <code>n</code>.</p>
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</div><h3 id='tymethod.rotation_between' class='method'><code id='rotation_between.v'>fn <a href='#tymethod.rotation_between' class='fnname'>rotation_between</a>(a: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, b: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self></code></h3><div class='docblock'><p>Computes a simple rotation that makes the angle between <code>a</code> and <code>b</code> equal to zero, i.e.,
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<code>b.angle(a * delta_rotation(a, b)) = 0</code>. If <code>a</code> and <code>b</code> are collinear, the computed
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rotation may not be unique. Returns <code>None</code> if no such simple rotation exists in the
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subgroup represented by <code>Self</code>.</p>
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</div><h3 id='tymethod.scaled_rotation_between' class='method'><code id='scaled_rotation_between.v'>fn <a href='#tymethod.scaled_rotation_between' class='fnname'>scaled_rotation_between</a>(<br> a: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, <br> b: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, <br> s: E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.RealField" title="type alga::linear::EuclideanSpace::RealField">RealField</a><br>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self></code></h3><div class='docblock'><p>Computes the rotation between <code>a</code> and <code>b</code> and raises it to the power <code>n</code>.</p>
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<p>This is equivalent to calling <code>self.rotation_between(a, b)</code> followed by <code>.powf(n)</code> but will
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usually be much more efficient.</p>
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</div></div><span class='loading-content'>Loading content...</span>
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<h2 id='implementors' class='small-section-header'>Implementors<a href='#implementors' class='anchor'></a></h2><div class='item-list' id='implementors-list'><h3 id='impl-Rotation%3CE%3E' class='impl'><code class='in-band'>impl<E: <a class="trait" href="../../alga/linear/trait.EuclideanSpace.html" title="trait alga::linear::EuclideanSpace">EuclideanSpace</a>> Rotation<E> for <a class="struct" href="../../alga/general/struct.Id.html" title="struct alga::general::Id">Id</a></code><a href='#impl-Rotation%3CE%3E' class='anchor'></a><a class='srclink' href='../../src/alga/linear/id.rs.html#102-125' title='goto source code'>[src]</a></h3><div class='impl-items'><h4 id='method.powf' class="method hidden"><code id='powf.v-1'>fn <a href='#method.powf' class='fnname'>powf</a>(&self, _: E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.RealField" title="type alga::linear::EuclideanSpace::RealField">RealField</a>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self></code><a class='srclink' href='../../src/alga/linear/id.rs.html#104-106' title='goto source code'>[src]</a></h4><h4 id='method.rotation_between' class="method hidden"><code id='rotation_between.v-1'>fn <a href='#method.rotation_between' class='fnname'>rotation_between</a>(a: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, b: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self></code><a class='srclink' href='../../src/alga/linear/id.rs.html#109-115' title='goto source code'>[src]</a></h4><h4 id='method.scaled_rotation_between' class="method hidden"><code id='scaled_rotation_between.v-1'>fn <a href='#method.scaled_rotation_between' class='fnname'>scaled_rotation_between</a>(<br> a: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, <br> b: &E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.Coordinates" title="type alga::linear::EuclideanSpace::Coordinates">Coordinates</a>, <br> _: E::<a class="type" href="../../alga/linear/trait.EuclideanSpace.html#associatedtype.RealField" title="type alga::linear::EuclideanSpace::RealField">RealField</a><br>) -> <a class="enum" href="https://doc.rust-lang.org/nightly/core/option/enum.Option.html" title="enum core::option::Option">Option</a><Self></code><a class='srclink' href='../../src/alga/linear/id.rs.html#118-124' title='goto source code'>[src]</a></h4></div></div><span class='loading-content'>Loading content...</span><script type="text/javascript">window.inlined_types=new Set([]);</script><script type="text/javascript" async
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