⬆️ Update nalgebra requirement from 0.23.1 to 0.24.0

[dependabot-preview]

Updates the requirements on nalgebra to permit the latest version.

Changelog

Sourced from nalgebra's changelog.

[0.24.0]

Added

• The DualQuaternion type. It is still work-in-progress but the basics are here: creation from its real and dual part, multiplication of two dual quaternions, and normalization.

Removed

• There is no blanket impl<T> PartialEq for Unit<T> any more. Instead, it is implemented specifically for UnitComplex, UnitQuaternion and Unit<Vector>.

[0.23.2]

In this release, we improved the documentation of some of the geometric types by applying changes similar to what we did in the version 0.23.1 for matrices.

Added

• The Isometry::inv_mul method which is a more efficient way of doing isometry1.inverse() * isometry2.

[0.23.1]

In this release we improved the documentation of the matrix and vector types by:

• Grouping impl bocks logically, adding a title comment to these impl blocks.
• Reference these impl blocks docs at the top of the documentation page for Matrix.
• Reduce the depth of type aliasing. Now all vector and matrix types are aliases of Matrix directly (instead of being aliases for other aliases).

[0.23.0]

Added

• The .inverse_transform_unit_vector(v) was added to Rotation2/3, Isometry2/3, UnitQuaternion, and UnitComplex. It applies the corresponding rotation to a unit vector Unit<Vector2/3>.
• The Point.map(f) and Point.apply(f) to apply a function to each component of the point, similarly to Vector.map(f) and Vector.apply(f).
• The Quaternion::from([N; 4]) conversion to build a quaternion from an array of four elements.
• The Isometry::from(Translation) conversion to build an isometry from a translation.
• The Vector::ith_axis(i) which build a unit vector, e.g., Unit<Vector3<f32>> with its i-th component set to 1.0 and the others set to zero.
• The Isometry.lerp_slerp and Isometry.try_lerp_slerp methods to interpolate between two isometries using linear interpolation for the translational part, and spherical interpolation for the rotational part.
• The Rotation2.slerp, Rotation3.slerp, and UnitQuaternion.slerp method for spherical interpolation.

[0.22.0]

In this release, we are using the new version 0.2 of simba. One major change of that version is that the use of libm is now opt-in when building targetting no-std environment. If you are using floating-point operations with nalgebra in a no-std environment, you will need to enable the new libm feature of nalgebra for your code to compile again.

Added

• The libm feature that enables libm when building for no-std environment.

Commits

• b695aaa Release v0.24.0
• c1eeaf0 Merge pull request #817 from chinedufn/dq-serde
• b951325 Serialize DQ to [N;8]
• d8fa3ff Merge pull request #810 from chinedufn/dual-quaternion
• 7ec5d00 Clean up DualQuat bounds
• 89134ef Store DQ as real and dual Quat
• 8036c56 Introduce DualQuaternion type
• 88145b7 Merge pull request #814 from dimforge/quaternion_partial_eq_fix
• 44be05d Update the changelog.
• 3899d92 Merge pull request #815 from dimforge/isometry_inv_mul
• Additional commits viewable in compare view

Dependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting @dependabot rebase.

---

Dependabot commands and options

You can trigger Dependabot actions by commenting on this PR:

• @dependabot rebase will rebase this PR
• @dependabot recreate will recreate this PR, overwriting any edits that have been made to it
• @dependabot merge will merge this PR after your CI passes on it
• @dependabot squash and merge will squash and merge this PR after your CI passes on it
• @dependabot cancel merge will cancel a previously requested merge and block automerging
• @dependabot reopen will reopen this PR if it is closed
• @dependabot close will close this PR and stop Dependabot recreating it. You can achieve the same result by closing it manually
• @dependabot ignore this major version will close this PR and stop Dependabot creating any more for this major version (unless you reopen the PR or upgrade to it yourself)
• @dependabot ignore this minor version will close this PR and stop Dependabot creating any more for this minor version (unless you reopen the PR or upgrade to it yourself)
• @dependabot ignore this dependency will close this PR and stop Dependabot creating any more for this dependency (unless you reopen the PR or upgrade to it yourself)
• @dependabot badge me will comment on this PR with code to add a "Dependabot enabled" badge to your readme

Additionally, you can set the following in the .dependabot/config.yml file in this repo:

• Update frequency
• Out-of-range updates (receive only lockfile updates, if desired)
• Security updates (receive only security updates, if desired)

[dependabot-preview]

Superseded by #22.