# [−][src]Crate nalgebra

# nalgebra

**nalgebra** is a linear algebra library written for Rust targeting:

- General-purpose linear algebra (still lacks a lot of features…)
- Real time computer graphics.
- Real time computer physics.

## Using **nalgebra**

You will need the last stable build of the rust compiler and the official package manager: cargo.

Simply add the following to your `Cargo.toml`

file:

[dependencies] nalgebra = "0.16"

Most useful functionalities of **nalgebra** are grouped in the root module `nalgebra::`

.

However, the recommended way to use **nalgebra** is to import types and traits
explicitly, and call free-functions using the `na::`

prefix:

#[macro_use] extern crate approx; // For the macro relative_eq! extern crate nalgebra as na; use na::{Vector3, Rotation3}; fn main() { let axis = Vector3::x_axis(); let angle = 1.57; let b = Rotation3::from_axis_angle(&axis, angle); relative_eq!(b.axis().unwrap(), axis); relative_eq!(b.angle(), angle); }

## Features

**nalgebra** is meant to be a general-purpose, low-dimensional, linear algebra library, with
an optimized set of tools for computer graphics and physics. Those features include:

- A single parametrizable type
`Matrix`

for vectors, (square or rectangular) matrices, and slices with dimensions known either at compile-time (using type-level integers) or at runtime. - Matrices and vectors with compile-time sizes are statically allocated while dynamic ones are allocated on the heap.
- Convenient aliases for low-dimensional matrices and vectors:
`Vector1`

to`Vector6`

and`Matrix1x1`

to`Matrix6x6`

, including rectangular matrices like`Matrix2x5`

. - Points sizes known at compile time, and convenience aliases:
`Point1`

to`Point6`

. - Translation (seen as a transformation that composes by multiplication):
`Translation2`

,`Translation3`

. - Rotation matrices:
`Rotation2`

,`Rotation3`

. - Quaternions:
`Quaternion`

,`UnitQuaternion`

(for 3D rotation). - Unit complex numbers can be used for 2D rotation:
`UnitComplex`

. - Algebraic entities with a norm equal to one:
`Unit<T>`

, e.g.,`Unit<Vector3<f32>>`

. - Isometries (translation ⨯ rotation):
`Isometry2`

,`Isometry3`

- Similarity transformations (translation ⨯ rotation ⨯ uniform scale):
`Similarity2`

,`Similarity3`

. - Affine transformations stored as an homogeneous matrix:
`Affine2`

,`Affine3`

. - Projective (i.e. invertible) transformations stored as an homogeneous matrix:
`Projective2`

,`Projective3`

. - General transformations that does not have to be invertible, stored as an homogeneous matrix:
`Transform2`

,`Transform3`

. - 3D projections for computer graphics:
`Perspective3`

,`Orthographic3`

. - Matrix factorizations:
`Cholesky`

,`QR`

,`LU`

,`FullPivLU`

,`SVD`

,`RealSchur`

,`Hessenberg`

,`SymmetricEigen`

. - Insertion and removal of rows of columns of a matrix.
- Implements traits from the alga crate for generic programming.

## Re-exports

`pub use base as core;` |

`pub use base::*;` |

`pub use geometry::*;` |

`pub use linalg::*;` |

## Modules

base |
[Reexported at the root of this crate.] Data structures for vector and matrix computations. |

geometry |
[Reexported at the root of this crate.] Data structures for points and usual transformations (rotations, isometries, etc.) |

linalg |
[Reexported at the root of this crate.] Factorization of real matrices. |

## Structs

Id |
The universal identity element wrt. a given operator, usually noted |

## Traits

Real |
Trait shared by all reals. |

## Functions

abs |
The absolute value of |

angle |
Computes the smallest angle between two vectors. |

center |
The center of two points. |

clamp |
Returns a reference to the input value clamped to the interval |

convert |
Converts an object from one type to an equivalent or more general one. |

convert_ref |
Converts an object from one type to an equivalent or more general one. |

convert_ref_unchecked^{⚠} |
Use with care! Same as |

convert_unchecked^{⚠} |
Use with care! Same as |

dimension |
The dimension of the given algebraic entity seen as a vector space. |

distance |
The distance between two points. |

distance_squared |
The squared distance between two points. |

dot |
Computes the dot product of two vectors. |

id |
Gets the ubiquitous multiplicative identity element. |

inf |
Returns the infimum of |

inf_sup |
Returns simultaneously the infimum and supremum of |

inverse |
Computes the multiplicative inverse of an (always invertible) algebraic entity. |

is_convertible |
Indicates if |

magnitude |
A synonym for |

magnitude_squared |
A synonym for |

max |
Same as |

min |
Same as |

norm |
Computes the L2 (Euclidean) norm of a vector. |

norm_squared |
Computes the squared L2 (Euclidean) norm of the vector |

normalize |
Computes the normalized version of the vector |

one |
Gets the multiplicative identity element. |

origin |
Gets the origin of the given point. |

partial_clamp |
Clamp |

partial_cmp |
Compare |

partial_ge |
Returns |

partial_gt |
Returns |

partial_le |
Returns |

partial_lt |
Returns |

partial_max |
Return the maximum of |

partial_min |
Return the minimum of |

partial_sort2 |
Sorts two values in increasing order using a partial ordering. |

sup |
Returns the supremum of |

try_convert |
Attempts to convert an object to a more specific one. |

try_convert_ref |
Attempts to convert an object to a more specific one. |

try_inverse |
Tries to gets an inverted copy of a square matrix. |

try_normalize |
Computes the normalized version of the vector |

wrap |
Wraps |

zero |
Gets the additive identity element. |