Rename some of the variables in dual-quaternion doc-tests.
@@ -316,7 +316,7 @@ impl<N: RealField + UlpsEq<Epsilon = N>> UlpsEq for DualQuaternion<N> {
}
}
-/// A unit quaternions. May be used to represent a rotation.
+/// A unit quaternions. May be used to represent a rotation followed by a translation.
pub type UnitDualQuaternion<N> = Unit<DualQuaternion<N>>;
impl<N: Scalar + ClosedNeg + PartialEq + SimdRealField> PartialEq for UnitDualQuaternion<N> {
@@ -471,10 +471,10 @@ where
/// # use nalgebra::{UnitDualQuaternion, DualQuaternion, Quaternion};
/// let qr = Quaternion::new(1.0, 2.0, 3.0, 4.0);
/// let qd = Quaternion::new(5.0, 6.0, 7.0, 8.0);
- /// let iso1 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qr, qd));
- /// let iso2 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qd, qr));
- /// let iso_to = iso1.isometry_to(&iso2);
- /// assert_relative_eq!(iso_to * iso1, iso2, epsilon = 1.0e-6);
+ /// let dq1 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qr, qd));
+ /// let dq2 = UnitDualQuaternion::new_normalize(DualQuaternion::from_real_and_dual(qd, qr));
+ /// let dq_to = dq1.isometry_to(&dq2);
+ /// assert_relative_eq!(dq_to * dq1, dq2, epsilon = 1.0e-6);
/// ```
#[inline]
pub fn isometry_to(&self, other: &Self) -> Self {
@@ -545,7 +545,7 @@ where
}
/// Screw linear interpolation between two unit quaternions. This creates a
- /// smooth arc from one isometry to another.
+ /// smooth arc from one dual-quaternion to another.
///
/// Panics if the angle between both quaternion is 180 degrees (in which case the interpolation
/// is not well-defined). Use `.try_sclerp` instead to avoid the panic.
@@ -754,9 +754,9 @@ where
}
/// Rotate and translate a point by the inverse of this unit quaternion.
- /// This may be
- /// cheaper than inverting the unit dual quaternion and transforming the
- /// point.
+ ///
+ /// This may be cheaper than inverting the unit dual quaternion and
+ /// transforming the point.
///
/// ```
/// # #[macro_use] extern crate approx;
@@ -777,10 +777,10 @@ where
}
/// Rotate a vector by the inverse of this unit quaternion, ignoring the
- /// translational component
- /// This may be
- /// cheaper than inverting the unit dual quaternion and transforming the
- /// vector.
+ /// translational component.
+ ///
+ /// This may be cheaper than inverting the unit dual quaternion and
+ /// transforming the vector.
///
/// ```
/// # #[macro_use] extern crate approx;
