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improve promotion and equality checking #52

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merged 24 commits into from
Feb 20, 2022
Merged

improve promotion and equality checking #52

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da6c867
improve promotion and equality checking
mikmoore Dec 20, 2021
fc1d79a
Apply suggestions from code review
mikmoore Dec 31, 2021
2043d2a
change && to & in ==
mikmoore Dec 31, 2021
a90f73f
extend promotion and equality improvements to Octonion, DualQuaternion
mikmoore Dec 31, 2021
092ccf9
Update src/Octonion.jl
mikmoore Feb 20, 2022
c9e5035
add promotion and equality tests for DualQuaternion and Octonion
mikmoore Feb 20, 2022
902a852
Update test/test_Quaternion.jl
mikmoore Feb 20, 2022
359fb0b
reorganize testing and add convert() tests
mikmoore Feb 20, 2022
3809886
fix troublesome shorthand constructors that gave potentially-wrong .n…
mikmoore Feb 20, 2022
d21747b
fix broken DualQuaternion interactions with DualNumbers.Dual
mikmoore Feb 20, 2022
627f820
Update src/DualQuaternion.jl
mikmoore Feb 20, 2022
1823d86
revert mistake to norm field
mikmoore Feb 20, 2022
4083684
Revert "fix troublesome shorthand constructors that gave potentially-…
mikmoore Feb 20, 2022
1f60958
quat(), dualquat(), and octo() don't set their own defaults for norm
mikmoore Feb 20, 2022
c9bf65e
make Quaternion(1) === Quaternion{T}(1)
mikmoore Feb 20, 2022
1a80a42
fix norm fields of DualQuaternion(::Dual)
mikmoore Feb 20, 2022
a259170
Merge branch 'master' of https://github.com/JuliaGeometry/Quaternions…
mikmoore Feb 20, 2022
8d3eedc
Merge branch 'JuliaGeometry-master' into promotion
mikmoore Feb 20, 2022
f83d75c
fix test that was broken because it was misplaced
mikmoore Feb 20, 2022
8c534e2
Update test/test_Quaternion.jl
mikmoore Feb 20, 2022
6787ccc
increase test coverage
mikmoore Feb 20, 2022
94a65a4
a few more tests
mikmoore Feb 20, 2022
693eaa0
Merge branch 'master' into promotion
sethaxen Feb 20, 2022
c333db7
Update test/test_Quaternion.jl
mikmoore Feb 20, 2022
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10 changes: 4 additions & 6 deletions src/DualQuaternion.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -21,14 +21,11 @@ DualQuaternion(q::Quaternion) = DualQuaternion(q, zero(q), q.norm)

DualQuaternion(a::Vector) = DualQuaternion(zero(Quaternion{typeof(a[1])}), Quaternion(a))

convert(::Type{DualQuaternion{T}}, x::Real) where {T} =
DualQuaternion(convert(Quaternion{T}, x), convert(Quaternion{T}, 0))
convert(::Type{DualQuaternion{T}}, x::Real) where {T} = DualQuaternion(convert(T, x))

convert(::Type{DualQuaternion{T}}, d::Dual) where {T} =
DualQuaternion(convert(Dual{T}, d), convert(Dual{T}, 0), convert(Dual{T}, 0), convert(Dual{T}, 0))
convert(::Type{DualQuaternion{T}}, d::Dual) where {T} = DualQuaternion(convert(Dual{T}, d))

convert(::Type{DualQuaternion{T}}, q::Quaternion) where {T} =
DualQuaternion(convert(Quaternion{T}, q), convert(Quaternion{T}, 0), q.norm)
convert(::Type{DualQuaternion{T}}, q::Quaternion) where {T} = DualQuaternion(convert(Quaternion{T}, q))

convert(::Type{DualQuaternion{T}}, q::DualQuaternion{T}) where {T <: Real} = q

Expand Down Expand Up @@ -112,6 +109,7 @@ end
dq.q0 * dw.qe + dq.qe * dw.q0,
dq.norm && dw.norm)
(/)(dq::DualQuaternion, dw::DualQuaternion) = dq * inv(dw)
(==)(q::DualQuaternion, w::DualQuaternion) = (q.q0 == w.q0) & (q.qe == w.qe) # ignore .norm field
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function angleaxis(dq::DualQuaternion)
tq = dq.qe * conj(dq.q0)
Expand Down
12 changes: 6 additions & 6 deletions src/Octonion.jl
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Expand Up @@ -18,12 +18,9 @@ Octonion(q::Quaternion) = Octonion(q.s, q.v1, q.v2, q.v3, zero(q.s), zero(q.s),
Octonion(s::Real, a::Vector) = Octonion(s, a[1], a[2], a[3], a[4], a[5], a[6], a[7])
Octonion(a::Vector) = Octonion(0, a[1], a[2], a[3], a[4], a[5], a[6], a[7])

convert(::Type{Octonion{T}}, x::Real) where {T} =
Octonion(convert(T, x), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0))
convert(::Type{Octonion{T}}, z::Complex) where {T} =
Octonion(convert(T, real(z)), convert(T, imag(z)), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0))
convert(::Type{Octonion{T}}, q::Quaternion) where {T} =
Octonion(convert(T, real(q)), convert(T, q.v1), convert(T, q.v2), convert(T, q.v3), convert(T, 0), convert(T, 0), convert(T, 0), convert(T, 0))
convert(::Type{Octonion{T}}, x::Real) where {T} = Octonion(convert(T, x))
convert(::Type{Octonion{T}}, z::Complex) where {T} = Octonion(convert(Complex{T}, z))
convert(::Type{Octonion{T}}, q::Quaternion) where {T} = Octonion(convert(Quaternion{T}, q))
convert(::Type{Octonion{T}}, o::Octonion{T}) where {T <: Real} = o
convert(::Type{Octonion{T}}, o::Octonion) where {T} =
Octonion(convert(T, o.s), convert(T, o.v1), convert(T, o.v2), convert(T, o.v3), convert(T, o.v4), convert(T, o.v5), convert(T, o.v6), convert(T, o.v7), o.norm)
Expand Down Expand Up @@ -113,6 +110,9 @@ end

(/)(o::Octonion, w::Octonion) = o * inv(w)

(==)(q::Octonion, w::Octonion) = (q.s == w.s) & (q.v1 == w.v1) & (q.v2 == w.v2) & (q.v3 == w.v3) &
(q.v4 == w.v4) & (q.v5 == w.v5) & (q.v6 == w.v6) & (q.v7 == w.v7) # ignore .norm field

function exp(o::Octonion)
s = o.s
se = exp(s)
Expand Down
8 changes: 4 additions & 4 deletions src/Quaternion.jl
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Expand Up @@ -16,10 +16,8 @@ Quaternion(z::Complex) = Quaternion(z.re, z.im, zero(z.re), zero(z.re), abs(z) =
Quaternion(s::Real, a::Vector) = Quaternion(s, a[1], a[2], a[3])
Quaternion(a::Vector) = Quaternion(0, a[1], a[2], a[3])

convert(::Type{Quaternion{T}}, x::Real) where {T} =
Quaternion(convert(T, x), convert(T, 0), convert(T, 0), convert(T, 0))
convert(::Type{Quaternion{T}}, z::Complex) where {T} =
Quaternion(convert(T, real(z)), convert(T, imag(z)), convert(T, 0), convert(T, 0))
convert(::Type{Quaternion{T}}, x::Real) where {T} = Quaternion(convert(T, x))
convert(::Type{Quaternion{T}}, z::Complex) where {T} = Quaternion(convert(Complex{T}, z))
convert(::Type{Quaternion{T}}, q::Quaternion{T}) where {T <: Real} = q
convert(::Type{Quaternion{T}}, q::Quaternion) where {T} =
Quaternion(convert(T, q.s), convert(T, q.v1), convert(T, q.v2), convert(T, q.v3), q.norm)
Expand Down Expand Up @@ -96,6 +94,8 @@ end
q.norm && w.norm)
(/)(q::Quaternion, w::Quaternion) = q * inv(w)

(==)(q::Quaternion, w::Quaternion) = (q.s == w.s) & (q.v1 == w.v1) & (q.v2 == w.v2) & (q.v3 == w.v3) # ignore .norm field

angleaxis(q::Quaternion) = angle(q), axis(q)

angle(q::Quaternion) = 2 * atan(√(q.v1^2 + q.v2^2 + q.v3^2), q.s)
Expand Down
2 changes: 1 addition & 1 deletion src/Quaternions.jl
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Expand Up @@ -2,7 +2,7 @@ __precompile__()

module Quaternions

import Base: +, -, *, /, ^
import Base: +, -, *, /, ^, ==
import Base: abs, abs2, angle, conj, cos, exp, inv, isfinite, log, real, sin, sqrt
import Base: convert, promote_rule, float
import LinearAlgebra: norm, normalize
Expand Down
19 changes: 19 additions & 0 deletions test/test_Quaternion.jl
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Expand Up @@ -24,6 +24,25 @@ for _ in 1:10, T in (Float32, Float64, Int32, Int64)
test_multiplicative(c1, c2, +, Quaternion)
end

let # test promotions and equalities
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@test Quaternion(1,0,0,0,false) == Quaternion(1,0,0,0,true) # test that .norm field does not affect equality
@test Quaternion(1) == 1.0 # test promotion
@test Quaternion(1,2,0,0) == Complex(1.0,2.0) # test promotion

@test Quaternion(1.0,2,3,4) == DualQuaternion(Quaternion(1,2,3,4))
@test Quaternion(1.0,2,3,4) != DualQuaternion(Quaternion(1,2,3,4),Quaternion(5,6,7,8))
@test DualQuaternion(1) == 1.0
@test DualQuaternion(Quaternion(1,2,3,4),Quaternion(5,6,7,8)) == DualQuaternion(Quaternion(1.0,2,3,4),Quaternion(5,6,7,8))
@test DualQuaternion(Quaternion(1,2,3,4),Quaternion(5,6,7,8)) != DualQuaternion(Quaternion(1.0,2,3,4),Quaternion(1,2,3,4))

@test Quaternion(1.0,2,3,4) == Octonion(1,2,3,4,0,0,0,0)
@test Quaternion(1.0,2,3,4) != Octonion(1,2,3,4,5,6,7,8)
@test Octonion(1,0,0,0,0,0,0,0,false) == Octonion(1,0,0,0,0,0,0,0,true) # test that .norm field does not affect equality
@test Octonion(1) == 1.0
@test Octonion(1.0,2,3,4,5,6,7,8) == Octonion(1,2,3,4,5,6,7,8)
@test Octonion(1.0,2,3,4,5,6,7,8) != Octonion(1,2,3,4,1,2,3,4)
end

let # test rotations
qx = qrotation([1, 0, 0], pi / 4)
@test qx * qx ≈ qrotation([1, 0, 0], pi / 2)
Expand Down