Crate spatialrust_math

Expand description

Lightweight math primitives for spatial computing.

Native small types with optional interop conversions planned for later releases.

Structs§

CauchyKernel: Cauchy robust kernel.
Cov3: 3x3 symmetric covariance matrix.
CovarianceAccumulator3: Accumulates mean and covariance for 3D points.
HuberKernel: Huber robust kernel.
Isometry3: Proper rigid transform: rotation + translation without scale/shear.
Mat3: 3x3 matrix stored in row-major order.
Mat4: 4x4 matrix stored in row-major order.
Pose3: Pose with optional translation covariance.
Quat: Unit quaternion representing a 3D rotation.
SymmetricEigen3: Result of a symmetric 3x3 eigendecomposition.
Transform3: Rigid transform represented as a 4x4 matrix.
TukeyKernel: Tukey biweight robust kernel.
Vec2: 2D vector.
Vec3: 3D vector.
Vec4: 4D vector.

Real: Floating-point scalar used by spatial algorithms.
RobustKernel: Robust loss kernel used by registration and estimation algorithms.
Scalar: Numeric types supported by SpatialRust math primitives.
TransformPoint: Trait for types that can transform 3D points.

approx_eq: Returns whether two values are approximately equal.
approx_eq_f64: Returns whether two values are approximately equal.
f32_eps: Default tolerance for f32 comparisons.
f64_eps: Default tolerance for f64 comparisons.
near_zero: Returns whether a value is near zero.
near_zero_f64: Returns whether a value is near zero.
smallest_eigenvector: Returns the eigenvector for the smallest eigenvalue.
solve_linear_system: Solves A x = b for square n x n systems using Gaussian elimination with partial pivoting.
symmetric_eigen3: Computes eigenvalues and eigenvectors of a symmetric 3x3 matrix.