Remove norm field in Quaternion
#243
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It looks like the same functionality is repeated here multiple times. This was true even before this PR, but I would take this opportunity to consolidate the implementations by forwarding to a single method. Thought should also be given to how to handle inputs that cannot result in well-defined rotations (zero and nonfinite inputs).
| @inline function QuatRotation{T}(q::Quaternion) where T | ||
| if q.norm | ||
| new{T}(q) | ||
| @inline function QuatRotation{T}(q::Quaternion, normalize::Bool = true) where T |
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This appears to be missing a check for iszero(q) (on either the input or output - undecided), which should probably result in an error. I'd be willing to permit !isfinite(q) to pass (the result will presumably be a NaN quaternion) but someone may prefer that errors as well.
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The current behavior of constructors other than the Quaternion is also not checked for input correctness, so I would like to separate the feature into another PR.
julia> AngleAxis(0.0, 0.0, 0.0, 0.0)
3×3 AngleAxis{Float64} with indices SOneTo(3)×SOneTo(3)(0.0, NaN, NaN, NaN):
NaN NaN NaN
NaN NaN NaN
NaN NaN NaN
julia> QuatRotation(0.0, 0.0, 0.0, 0.0)
3×3 QuatRotation{Float64} with indices SOneTo(3)×SOneTo(3)(QuaternionF64(0.0, 0.0, 0.0, 0.0)):
0.0 0.0 0.0
0.0 0.0 0.0
0.0 0.0 0.0
julia> RotMatrix{3}([1 1 1;2 2 2;3 3 3])
3×3 RotMatrix3{Int64} with indices SOneTo(3)×SOneTo(3):
1 1 1
2 2 2
3 3 3
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The CI tests are canceled due to their time limit. I think this is because of the deprecated warnings from Quaternions.jl, and will be fixed by merging #245. The test succeeds on my local machine, so I'll merge this PR in a few days. |
The
normfield was deprecated in JuliaGeometry/Quaternions.jl#110, and will be removed in JuliaGeometry/Quaternions.jl#108. This PR removes thenormfield inQuaternion.