# [−][src]Module salva3d::math

Compilation flags dependent aliases for mathematical types.

## Constants

ANGULAR_DIM | The maximum number of possible rotations of a rigid body. |

DIM | The maximum number of possible translations of a rigid body. |

SPATIAL_DIM | The maximum number of possible rotations and translations of a rigid body. |

## Functions

gcross_matrix | The cross-product matrix for the given vector. |

## Type Definitions

AngularDim | The dimension of the rotations. |

AngularInertia | The inertia tensor type. |

AngularVector | The angular vector type. |

Dim | The dimension of the ambient space. |

InertiaMatrix | The inertia matrix type. |

Isometry | The transformation matrix type. |

Jacobian | The type of a constraint jacobian in twist coordinates. |

JacobianSlice | The type of a slice of the constraint jacobian in twist coordinates. |

JacobianSliceMut | The type of a mutable slice of the constraint jacobian in twist coordinates. |

Matrix | Square matrix with dimension |

Orientation | The orientation type. |

Point | The point type. |

Rotation | The rotation type. |

RotationMatrix | The rotation matrix type. |

SpatialDim | The dimension of a spatial vector. |

SpatialMatrix | Square matrix with dimension |

SpatialVector | The vector type with dimension |

Translation | The translation type. |

Vector | The vector type. |