# Releases in Reverse Chronological Order

# Version 1.x

## Release 1.0.2 (2024-10-14)

- Avoid `num-integer` pulling in `std` by default

**Contributors**: [Zachary Catlin](https://github.com/zec)

## Release 1.0.1 (2024-10-11)

- Added benchmarks to measure run-time and accuracy of `norm` and compare
  against other Rust crates and C++ libraries.
- Improved run-time and accuracy of `norm`.
- Updated Minimum Supported Rust Version from 1.61 to 1.63.

**Contributors**: @ralphtandetzky

## Release 1.0.0 (2024-09-10)

- Improved and updated high-level documentation.
  [Issue #106](https://github.com/ralphtandetzky/num-quaternion/issues/106)

**Note**: There have been no breaking API changes in this release. The major
version update only signals the maturity and stability of the crate. (There
have not been any breaking changes since version 0.2.0, in fact.)

**Contributors**: @ralphtandetzky

# Version 0.x

## Release 0.2.29 (2024-09-15)

- Added `pose_animation` example.
- Added Rustdoc code examples for all methods.

**Contributors**: @ralphtandetzky

## Release 0.2.28 (2024-09-07)

- Split `lib.rs` into new modules `quaternion`, `unit_quaternion`, and `arithmetics`.

**Contributors**: @ralphtandetzky

## Release 0.2.27 (2024-09-04)

- Reached 100% test coverage.

**Contributors**: @ralphtandetzky

## Release 0.2.26 (2024-08-29)

- Added `rand` feature to crate.
- Implemented sampling `UnitQuaternion<T>` from a uniform distribution.
- Increased test coverage.

**Contributors**: @ralphtandetzky

## Release 0.2.25 (2024-08-21)

- Fix bug in gimbal lock case of `UnitQuaternion::to_euler_angles`.
- Improved test coverage.

**Contributors**: @ralphtandetzky

## Release 0.2.24 (2024-08-18)

- Fixed edge case in `Quaternion::ln`.
- Added scripts for test coverage.
- Improved test coverage.

**Contributors**: @ralphtandetzky

## Release 0.2.23 (2024-08-12)

- Added `has_nan` and `is_all_nan` methods for `Quaternion<T>`.
- Improved documentation and tests.

**Contributors**: @ralphtandetzky

## Release 0.2.22 (2024-08-10)

- Improved documentation.
- Added `to_inner` method for `UnitQuaternion<T>`.
- Made `is_finite` method public.
- Improved existing tests and added more tests.

**Contributors**: @ralphtandetzky

## Release 0.2.21 (2024-08-01)

- Updated minimum required Rust compiler version to 1.63.
- Added [Design Rationale](DESIGN_RATIONALE.md) laying out the design goals and
  the error handling strategy.
- Adjusted formatting of the code.

**Contributors**: @ralphtandetzky

## Release 0.2.20 (2024-07-28)

- Implemented `Quaternion::powf` method.
- Changed method `Quaternion::ln` for zero arguments to return `NEG_INFINITY`
  independent of the signs of the input quaternion components.

**Contributors**: @ralphtandetzky

## Release 0.2.19 (2024-07-27)

- Changed orientation of some `UnitQuaternion` functions to conform to common conventions.

**Contributors**: @ralphtandetzky

## Release 0.2.18 (2024-07-23)

- Implemented `Quaternion::expf` method.

**Contributors**: @ralphtandetzky

## Release 0.2.17 (2024-07-22)

- Implemented edge cases of `Quaternion::exp` method.

**Contributors**: @ralphtandetzky

## Release 0.2.16 (2024-07-16)

- Fixed inaccuracy in `Quaternion::norm` for very large and very small results. (https://github.com/ralphtandetzky/num-quaternion/issues/51)
- Added new function `Quaternion::fast_norm` for branchless fast (but possibly inaccurate) norm calculation.

**Contributors**: @ralphtandetzky

## Release 0.2.15 (2024-07-13)

- Added new function `UnitQuaternion::from_rotation_matrix3x3`.

**Contributors**: @ralphtandetzky

## Release 0.2.14 (2024-07-11)

- Added new function `UnitQuaternion::to_rotation_matrix3x3`.

**Contributors**: @ralphtandetzky

## Release 0.2.13 (2024-07-08)

- Added new function `UnitQuaternion::from_two_vectors`.

**Contributors**: @ralphtandetzky

## Release 0.2.12 (2024-07-05)

- Fixed failing rustdoc tests for disabled features.
- Improvements in CI.
- Added scripts for running CI tests locally.

**Contributors**: @ralphtandetzky

## Release 0.2.11 (2024-07-03)

- Implemented the function `sqrt` for `UnitQuaternion`.
- Fixed warnings in markdown files.

**Contributors**: @ralphtandetzky

## Release 0.2.10 (2024-07-02)

- Implemented the function `sqrt` for `Quaternion`.

**Contributors**: @ralphtandetzky

## Release 0.2.9 (2024-06-26)

- Implemented the functions `exp` and `ln`.

**Contributors**: @ralphtandetzky

## Release 0.2.8 (2024-06-21)

- Added feature `serde`. Implemented `Serialize` and `Deserialize` traits for
  all data structures.

**Contributors**: @ralphtandetzky

## Release 0.2.7 (2024-06-19)

- Added a [Code of Conduct](CODE_OF_CONDUCT.md).
- Added [Contribution information](CONTRIBUTING.md).
- Added a [Security Policy](SECURITY.md)
- Added scripts for better security checks on GitHub.
- Added pull request template.
- Updated crate's keywords and categories.
- Minor updates in documentation and scripts.

**Contributors**: @ralphtandetzky

## Release 0.2.6 (2024-06-15)

- Added arithmetic operators which take references as arguments.

**Contributors**: @ralphtandetzky

## Release 0.2.5 (2024-06-13)

- Added a lot of top level documentation.

**Contributors**: @ralphtandetzky

## Release 0.2.4 (2024-06-10)

- Added dot product.
- Added spherical linear interpolation.

**Contributors**: @ralphtandetzky

## Release 0.2.3 (2024-06-08)

- Added the function `UnitQuaternion::to_rotation_vector`.
- Added new unstable function `from_euler_angles_struct`. (It is marked
  as unstable since the naming may change in the future.)

**Contributors**: @ralphtandetzky

## Release 0.2.2 (2024-06-05)

- Added the function `UnitQuaternion::to_euler_angles`.
- Added the struct `EulerAngles<T>`.
- Small improvements in the docs.

**Contributors**: @ralphtandetzky

## Release 0.2.1 (2024-06-04)

- Added the function `UnitQuaternion::rotate_vector`.

**Contributors**: @ralphtandetzky

## Release 0.2.0 (2024-06-03)

- **Breaking change:** Renamed member fields of `Quaternion` from `a`, `b`, `c`,
  and `d` to `w`, `x`, `y`, and `z`.
- Added `UnitQuaternion` type with tons of new functionality.
- Made a couple of functions `#[inline]`.

**Contributors**: @ralphtandetzky

## Release 0.1.2 (2024-05-26)

- Fixed issue with Rust Doc.

**Contributors**: @ralphtandetzky

## Release 0.1.1 (2024-05-26)

- Improved documentation including math formulas.
- Added operators for real-values left hand operands.

**Contributors**: @ralphtandetzky

## Release 0.1.0 (2024-05-18)

- Initial release.

**Contributors**: @ralphtandetzky