fix small API regression

.github/workflows/format.yml

@@ -27,4 +27,3 @@ jobs:
             rustup default nightly
             rustup component add rustfmt
             cargo fmt
-            cargo doc --no-deps --all-features

.github/workflows/nightly.yml

@@ -20,20 +20,21 @@ jobs:
         run: ${SCCACHE_PATH} --show-stats
       - uses: actions-rs/toolchain@v1
         with:
-          toolchain: nightly
+          toolchain: nightly-2024-12-01
       - uses: extractions/setup-just@v1
       - name: cargo build
         env:
           SCCACHE_GHA_ENABLED: "true"
           RUSTC_WRAPPER: "sccache"
         run: |
-          rustup default nightly
+          rustup default nightly-2024-12-01
           cargo build --release --all-targets --all-features
       - name: cargo test
         env:
           SCCACHE_GHA_ENABLED: "true"
           RUSTC_WRAPPER: "sccache"
         run: |
+          rustup default nightly-2024-12-01
           just test
       - name: Run sccache stat for check after
         shell: bash

.github/workflows/clippy.yml → .github/workflows/style.yml

@@ -20,15 +20,22 @@ jobs:
         run: ${SCCACHE_PATH} --show-stats
       - uses: actions-rs/toolchain@v1
         with:
-          toolchain: nightly-2024-09-01
+          toolchain: nightly-2024-12-01
       - name: cargo clippy
         env:
           SCCACHE_GHA_ENABLED: "true"
           RUSTC_WRAPPER: "sccache"
         run: |
-          rustup default nightly-2024-09-01
+          rustup default nightly-2024-12-01
           rustup component add clippy
           cargo clippy --all-targets --all-features
+      - name: cargo docs
+        env:
+              SCCACHE_GHA_ENABLED: "true"
+              RUSTC_WRAPPER: "sccache"
+        run: |
+              rustup default nightly-2024-12-01
+              cargo doc --no-deps --all-features
       - name: Run sccache stat for check after
         shell: bash
         run: ${SCCACHE_PATH} --show-stats

README.md

@@ -28,7 +28,7 @@ sophus-rs builds on stable.
 
 ```toml
 [dependencies]
-sophus = "0.9.0"
+sophus = "0.11.0"
 ```
 
 To allow for batch types, such as BatchScalarF64, the 'simd' feature is required. This feature
@@ -38,5 +38,5 @@ are no plans to rely on any other nightly features.
 
 ```toml
 [dependencies]
-sophus = { version = "0.9.0", features = ["simd"] }
+sophus = { version = "0.11.0", features = ["simd"] }
 ```

crates/sophus_image/src/color_map.rs

@@ -1,7 +1,6 @@
 use sophus_core::linalg::SVec;
 
 /// blue to white to red to black
-
 pub struct BlueWhiteRedBlackColorMap;
 
 impl BlueWhiteRedBlackColorMap {

crates/sophus_lie/src/groups/isometry3.rs

@@ -83,6 +83,24 @@ impl<S: IsScalar<BATCH>, const BATCH: usize> Isometry3<S, BATCH> {
         Self::from_rotation(Rotation3::rot_x(theta))
     }
 
+    /// Rotate by angle
+    pub fn rot_y<U>(theta: U) -> Self
+    where
+        U: Borrow<S>,
+    {
+        let theta: &S = theta.borrow();
+        Self::from_rotation(Rotation3::rot_y(theta))
+    }
+
+    /// Rotate by angle
+    pub fn rot_z<U>(theta: U) -> Self
+    where
+        U: Borrow<S>,
+    {
+        let theta: &S = theta.borrow();
+        Self::from_rotation(Rotation3::rot_z(theta))
+    }
+
     /// set rotation
     pub fn set_rotation<F>(&mut self, rotation: F)
     where

crates/sophus_renderer/src/scene_renderer/distortion.rs

@@ -258,8 +258,8 @@ impl DistortionRenderer {
                     compute_pass.set_bind_group(0, &self.uniforms.compute_bind_group, &[]);
 
                     compute_pass.dispatch_workgroups(
-                        (view_port_size.width as u32 + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE,
-                        (view_port_size.height as u32 + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE,
+                        (view_port_size.width as u32).div_ceil(WORKGROUP_SIZE),
+                        (view_port_size.height as u32).div_ceil(WORKGROUP_SIZE),
                         1,
                     );
                 }
@@ -282,8 +282,8 @@ impl DistortionRenderer {
                     compute_pass.set_bind_group(0, &self.uniforms.compute_bind_group, &[]);
 
                     compute_pass.dispatch_workgroups(
-                        (view_port_size.width as u32 + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE,
-                        (view_port_size.height as u32 + WORKGROUP_SIZE - 1) / WORKGROUP_SIZE,
+                        (view_port_size.width as u32).div_ceil(WORKGROUP_SIZE),
+                        (view_port_size.height as u32).div_ceil(WORKGROUP_SIZE),
                         1,
                     );
                 }