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Linear algebra library for the Rust programming language.
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nalgebra — low-dimensional linear algebra library
Users guide | Documentation | Forum Linear algebra library for the Rust programming language. Click this button if you wish to donate to support the
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| Category: Rust / Computation |
| Watchers: 53 |
| Star: 3.1k |
| Fork: 379 |
| Last update: Mar 14, 2023 |
281 Open
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https://github.com/rustsim/nalgebra/issues/520
First time contributing to library and relearning rust. Will take any and all advice.
opened Feb 10, 2019 by npapapietro 16
Closed
Is there an equivalent to cgmath's Matrix4::look_at function?
fn look_at(eye: &Point3<S>, center: &Point3<S>, up: &Vector3<S>) -> Matrix4<S>
opened Nov 23, 2014 by brendanzab 15
Closed
see https://github.com/kvark/mint
opened Jul 25, 2017 by kvark 14
Closed
I am seriously considering transitioning from my cgmath library to nalgebra, seeing as it is now insanely well polished, and it would allow me to use your collision and physics stuff without having to re-invent the wheel. Some of the things I love about cgmath though is:
- points as a separate concept to vectors with the following operators:
(*) : Point a -> a -> Point a(/) : Point a -> a -> Point a(+) : Point a -> Vector a -> Point a(-) : Point a -> Point a -> Vector a
- Separate types for radian and degree units
- Projection structures with conversions to matrices
These things don't really make sense for a linear algebra library, but is it possible that we could have a separate library for these?
opened Oct 1, 2014 by brendanzab 14
Closed
Currently, nalgebra tends to use 3-letter or 4-letter names for all the algebraic entities (e.g. Vec, Mat, Rot, Quat, etc.) Unfortunately, this naming convention is not very (not at all actually) explicit for some structures like (direct) isometries Iso and the recently added similarity transformations Sim.
Thus, I now think that full names would be much better as they would make the code more readable, and would help users to find what he wants on the documentation. For example, I doubt that anyone reading the documentation would guess at first glance that Sim is a transformation.
So I would like to know if current users would be in favor of full names instead of the current ones! Of course, if the majority seems to agree with this change, it would break every single project using nalgebra.
opened Apr 6, 2016 by sebcrozet 14
Closed
Please, I would prefer that nobody make announcements on blogs about this (in reddit, hackernews, etc.) before the release on crates.io which will occur during the second half of august.
All the following are currently implemented on the linalg branch of nalgebra.
Since the last large release #218 of nalgebra, I've been working slowly but thoroughly on a few features that makes a step toward making nalgebra more useful for general-purpose linear algebra. This includes three major features:
- Pure-rust implementations of some the most common matrix factorization.
- Partial integration of Lapack. This is based on previous works on the nalgebra-lapack crate (made by @astraw).
- Insertion and removal of rows and columns to matrices.
Of course, all those work on statically-sized matrices as well as dynamically-sized matrices! I alsow want to note that none of this would have been possible without the amazing typenum crate which allows addition/subtraction/minimum of type-level integers.
Matrix factorizations
This new version of nalgebra will include pure-rust implementations of the following factorization for real matrices ("general matrices" designates real-valued matrices that may be rectangular):
- Cholesky decomposition of symmetric definite-positive matrices (+ inverse, square linear system resolution).
- Hessenberg decomposition of square matrices.
- LU decompostion of general matrices with partial pivoting (+ inversion, determinant, square linear system resolution).
- LU decompostion of general matrices with full pivoting (+ inversion, determinant, square linear system resolution).
- QR decomposition of general matrices (+ inverse, square linear system resolution).
- Real Schur decomposition of general matrices (+ eigenvalues, complex eigenvalues).
- Eigendecomposition of symmetric matrices.
- Singular Value Decomposition (SVD) of general matrices (+ pseudo-inverse, linear system resolution, rank).
All those are implemented in the linalg folder. Note that as far as I know, the only other crate that implements those factorization in pure-Rust is rulinalg written by @AtheMathmo and @Andlon. Refer to the next post for benchmarks showing the performances of nalgebra compared to rulinalg.
Lapack integration
I'd like to move the nalgebra-lapack crate to the main nalgebra github repository to simplify the task of keeping them in sync. The next nalgebra-lapack version has been updated and I intend to make it contain at least all the decompositions implemented in Rust and expose similar interfaces to the user. It is not finished. Currently, it contains: Cholesky, Hessenberg, LU, QR, Eigendecomposition of real matrices, SVD.
Matrix edition
This adds the ability to resize a matrix or insert/remove rows and columns. For dynamically-sized matrices (allocated on the heap), the pre-existing buffer is reallocated (i.e. the underlying Vec is shrink or expanded.)
The ability to fill different parts of the matrices are added as well:
- Fill the lower/upper triangular part with a constant.
- Fill the matrix with the identity matrix.
- Fill the diagonal with a constant.
- Fill a row or column with a constant.
- Fill the lower-triangular (resp. upper-triangular) part of the matrix with the content of its upper-triangular (resp. lower-triangular) part to make the matrix symmetric.
Patreon
As a side note, I discovered Patreon only recently so I set up a page for my projects: https://www.patreon.com/sebcrozet Any financial aid is greatly appreciated.
Release date
The release is planed for the second half of august. Indeed, I still have to write documentations (including a new page on the nagebra users guide) and refine the API. Any feedback before the release would be very useful to improve the quality of the actual release.
opened Aug 2, 2017 by sebcrozet 13
Open
I would be nice to implement matrix exponential for complex matrices as well :)
--> src/main.rs:9:7
|
9 | a.exp();
| ^^^ method not found in `nalgebra::Matrix<nalgebra::Complex<{float}>, nalgebra::U2, nalgebra::U2, nalgebra::ArrayStorage<nalgebra::Complex<{float}>, nalgebra::U2, nalgebra::U2>>`
opened Jun 14, 2020 by mariogeiger 0
Open
https://docs.rs/nalgebra/0.21.0/nalgebra/geometry/struct.Isometry.html#method.look_at_lh
It says "right handed", but it should say "left handed".
opened May 30, 2020 by vadixidav 0
Open
Can we have argsort support please?
https://play.rust-lang.org/?version=nightly&mode=debug&edition=2018&gist=6e82220f978f5d5fcf7e56d7375fcae4
opened May 12, 2020 by gilescope 0
Open
I ported some ideas from LAPACK's QR implementation, more specifically from ?ORG2R.
As a result I could increase all epsilons in the test by two order of magnitudes. Also the full computation of the Q matrix is now supported, not only the first min(n, m) columns. I added a new method q_columns for this. The current q() method stayed the same.
The main difference in the implementation seems to be that LAPACK applies the scaling of the Householder vectors at a different point in the code.
Breaking changes
- The internal representation has changed (is exposed by hidden method
qr_internal) - For some inputs some column signs flipped of
RandQ. - Some allocations were added, can be found when searching for
work. This resulted in additional allocator bounds. See discussion below.
Things to discuss
- Currently
q_tr_mulborrows self mutably due to an implementation detail although the struct's state will only be changed temporarily inside the method. Ideas to resolve this:- Keep as is
- Use interior mutability
- Allocate
- Change affected
gercandgemvcall (possible performance penalty)
- This would be a good occasion to implement #672 for QR
- The additional
workallocations could be done only once by storing a suitable vector in the struct and sharing it. This will result in&mut selfor interior mutability.
opened May 9, 2020 by jannschu 0
Open
I compared a few implementations of LAPACK and nalgebra. Often LAPACK does additional work for handling for exampe overflow or different scales. Would you be interested in having some of those ideas ported to nalgebra? This usually comes with a (potential) performance penalty.
Some examples:
norm_squaredvsDNRM2- the QR implemntation vs
DGEQR2
I could port something if you are interested? I would start with the QR implementation and the subroutines used.
opened May 2, 2020 by jannschu 0
Open
Many operations expected the numeric type N to implement ClosedAdd and/or ClosedSub.
This commit replaces some of these with the less restrictive Simple{Add,Sub}, which does not require {Add,Sub}Assign.
This partially addresses #719.
opened May 1, 2020 by z33ky 2
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