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Julia 0.6 support / updates to match StaticArrays 0.4.0 #25

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merged 13 commits into from
Apr 3, 2017
Merged

Julia 0.6 support / updates to match StaticArrays 0.4.0 #25

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385fbf1
New abstract type syntax.
tkoolen Mar 25, 2017
2630fc4
New inner constructor syntax.
tkoolen Mar 25, 2017
f87aa09
Dot syntax for abs applied to arrays.
tkoolen Mar 25, 2017
52d109e
::Int instead of ::Integer in getindex methods, following StaticArrays.
tkoolen Mar 25, 2017
43343c9
Change immutable to struct.
tkoolen Mar 25, 2017
bd15ab9
Fix takebuf_string deprecation in test.
tkoolen Mar 27, 2017
f24f6f1
Tentatively add inner and outer constructors to RotMatrix to fix ambi…
tkoolen Mar 27, 2017
e2aa085
Use convert(Tuple, ...) to fix infinite recursion.
tkoolen Mar 27, 2017
8c067e7
Tentative fix for RotX ambiguity errors.
tkoolen Mar 27, 2017
955fbbf
Apply changes to RotX throughout, reduce duplication.
tkoolen Mar 30, 2017
1eb9545
Work around StaticArrays getindex issue.
tkoolen Mar 30, 2017
aae8f8f
Update .travis.yml, REQUIRE.
tkoolen Mar 30, 2017
0dbaee9
Undo docstring indentation changes.
tkoolen Mar 30, 2017
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10 changes: 5 additions & 5 deletions .travis.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,14 +4,14 @@ os:
- linux
- osx
julia:
- 0.5
- 0.6
- nightly
notifications:
email: false
matrix:
allow_failures:
- julia: nightly
- os: osx
# matrix:
# allow_failures:
# - julia: nightly
# - os: osx
# uncomment the following lines to override the default test script
#script:
# - if [[ -a .git/shallow ]]; then git fetch --unshallow; fi
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4 changes: 2 additions & 2 deletions REQUIRE
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@@ -1,2 +1,2 @@
julia 0.5
StaticArrays 0.3.0
julia 0.6-
StaticArrays 0.4.0
2 changes: 1 addition & 1 deletion gen/SimpleSymbolic.jl
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@@ -1,6 +1,6 @@
module SimpleSymbolic

immutable S
struct S
x::Any
end

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14 changes: 7 additions & 7 deletions src/angleaxis_types.jl
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
################################################################################
################################################################################
"""
immutable AngleAxis{T} <: Rotation{3,T}
struct AngleAxis{T} <: Rotation{3,T}
AngleAxis(Θ, x, y, z)

A 3×3 rotation matrix parameterized by a 3D rotation by angle θ about an
Expand All @@ -11,14 +11,14 @@ Note that the axis is not unique for θ = 0, and that this parameterization does
not continuously map the neighbourhood of the null rotation (and therefore
might not be suitable for autodifferentation and optimization purposes).
"""
immutable AngleAxis{T} <: Rotation{3,T}
struct AngleAxis{T} <: Rotation{3,T}
theta::T
axis_x::T
axis_y::T
axis_z::T

# Ensure axis is normalized
function AngleAxis(θ, x, y, z)
function AngleAxis{T}(θ, x, y, z) where T
norm = sqrt(x*x + y*y + z*z)
# Not sure what to do with theta?? Should it become theta * norm ?
new(θ, x/norm, y/norm, z/norm)
Expand All @@ -31,7 +31,7 @@ end

# These 2 functions are enough to satisfy the entire StaticArrays interface:
@inline (::Type{AA}){AA <: AngleAxis}(t::NTuple{9}) = AA(Quat(t))
@inline Base.getindex(aa::AngleAxis, i::Integer) = Quat(aa)[i]
@inline Base.getindex(aa::AngleAxis, i::Int) = Quat(aa)[i]

@inline function Base.convert{R <: RotMatrix}(::Type{R}, aa::AngleAxis)
# Rodrigues' rotation formula.
Expand Down Expand Up @@ -113,14 +113,14 @@ end
################################################################################
################################################################################
"""
immutable RodriguesVec{T} <: Rotation{3,T}
struct RodriguesVec{T} <: Rotation{3,T}
RodriguesVec(sx, sy, sz)

Rodrigues vector parameterization of a 3×3 rotation matrix. The direction of the
vector [sx, sy, sz] defines the axis of rotation, and the rotation angle is
given by its norm.
"""
immutable RodriguesVec{T} <: Rotation{3,T}
struct RodriguesVec{T} <: Rotation{3,T}
sx::T
sy::T
sz::T
Expand All @@ -132,7 +132,7 @@ end

# These 2 functions are enough to satisfy the entire StaticArrays interface:
@inline (::Type{RV}){RV <: RodriguesVec}(t::NTuple{9}) = RV(Quat(t))
@inline Base.getindex(aa::RodriguesVec, i::Integer) = Quat(aa)[i]
@inline Base.getindex(aa::RodriguesVec, i::Int) = Quat(aa)[i]

# define its interaction with other angle representations
@inline Base.convert{R <: RotMatrix}(::Type{R}, rv::RodriguesVec) = convert(R, AngleAxis(rv))
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12 changes: 7 additions & 5 deletions src/core_types.jl
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@@ -1,10 +1,10 @@
"""
abstract Rotation{N,T} <: StaticMatrix{T}
abstract type Rotation{N,T} <: StaticMatrix{T}

An abstract type representing `N`-dimensional rotations. More abstractly, they represent
unitary (orthogonal) `N`×`N` matrices.
"""
abstract Rotation{N,T} <: StaticMatrix{T}
abstract type Rotation{N,T} <: StaticMatrix{T} end

Base.@pure StaticArrays.Size{N}(::Type{Rotation{N}}) = Size(N,N)
Base.@pure StaticArrays.Size{N,T}(::Type{Rotation{N,T}}) = Size(N,N)
Expand Down Expand Up @@ -67,15 +67,17 @@ end
################################################################################
################################################################################
"""
immutable RotMatrix{N,T} <: Rotation{N,T}
struct RotMatrix{N,T} <: Rotation{N,T}

A statically-sized, N×N unitary (orthogonal) matrix.

Note: the orthonormality of the input matrix is *not* checked by the constructor.
"""
immutable RotMatrix{N,T,L} <: Rotation{N,T} # which is <: AbstractMatrix{T}
struct RotMatrix{N,T,L} <: Rotation{N,T} # which is <: AbstractMatrix{T}
mat::SMatrix{N, N, T, L} # The final parameter to SMatrix is the "length" of the matrix, 3 × 3 = 9
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@andyferris andyferris Mar 25, 2017 •
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So should we override the default constructors to fix the ambiguity?

Something like

struct RotMatrix{N,T,L} <: Rotation{N,T} # which is <: AbstractMatrix{T}
    mat::SMatrix{N, N, T, L} # The final parameter to SMatrix is the "length" of the matrix, 3 × 3 = 9
    RotMatrix{N,T,L}(x::AbstractArray) where {N,T,L} = new{N,T,L}(convert(SMatrix{N,N,T,L}, x))
end

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That's a stack overflow error:

   [1] macro expansion at /Users/twan/code/julia/RigidBodyDynamics/v0.6/StaticArrays/src/SMatrix.jl:65 [inlined]
   [2] Type at /Users/twan/code/julia/RigidBodyDynamics/v0.6/StaticArrays/src/SMatrix.jl:61 [inlined]
   [3] Type at /Users/twan/code/julia/RigidBodyDynamics/v0.6/Rotations/src/core_types.jl:86 [inlined]
   [4] convert at /Users/twan/code/julia/RigidBodyDynamics/v0.6/StaticArrays/src/convert.jl:7 [inlined]
   [5] Rotations.RotMatrix(::StaticArrays.SMatrix{2,2,Float32,4}) at /Users/twan/code/julia/RigidBodyDynamics/v0.6/StaticArrays/src/convert.jl:4 (repeats 80000 times)

RotMatrix{N,T,L}(x::AbstractArray) where {N,T,L} = new{N,T,L}(convert(SMatrix{N,N,T,L}, x))
end
RotMatrix(x::SMatrix{N,N,T,L}) where {N,T,L} = RotMatrix{N,T,L}(x)

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@andyferris andyferris Mar 25, 2017 •
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Then we probably need to redefine the default outer constructor (which is lost because we defined an inner constructor).

RotMatrix(x::SMatrix{N.N,T,L}) where {N,T,L} = RotMatrix{N,T,L}(x)

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Ideally, we could have a series of constructors to populate N, T, etc, so that RotMatrix{2}([1 0; 0 1]) works (maybe useful for REPL...)

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Adding

RotMatrix(x::SMatrix{N,N,T,L}) where {N,T,L} = RotMatrix{N,T,L}(x)

in addition to the inner constructor does fix the ambiguity and stack overflow error; sorry, I should have tried that before commenting earlier.

# These functions (plus size) are enough to satisfy the entire StaticArrays interface:
# @inline (::Type{R}){R<:RotMatrix}(t::Tuple) = error("No precise constructor found. Length of input was $(length(t)).")
Expand All @@ -88,7 +90,7 @@ for N = 2:3
@inline (::Type{RotMatrix{$N,T,$L}}){T}(t::NTuple{$L}) = RotMatrix(SMatrix{$N,$N,T}(t))
end
end
Base.@propagate_inbounds Base.getindex(r::RotMatrix, i::Integer) = r.mat[i]
Base.@propagate_inbounds Base.getindex(r::RotMatrix, i::Int) = r.mat[i]

@inline (::Type{RotMatrix})(θ::Real) = RotMatrix(@SMatrix [cos(θ) -sin(θ); sin(θ) cos(θ)])
@inline (::Type{RotMatrix{2}})(θ::Real) = RotMatrix(@SMatrix [cos(θ) -sin(θ); sin(θ) cos(θ)])
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3 changes: 2 additions & 1 deletion src/derivatives.jl
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Expand Up @@ -36,7 +36,8 @@ function jacobian(::Type{RotMatrix}, q::Quat)
# then R = RotMatrix(q) = RotMatrix(s * qhat) = s * RotMatrix(qhat)

# get R(q)
R = q[:]
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For future reference, this is the only place where JuliaArrays/StaticArrays.jl#128 was causing issues.

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Fixed upstream, will need a StaticArrays-0.4.1 release though

# R = q[:] # FIXME: broken with StaticArrays 0.4.0 due to https://github.com/JuliaArrays/StaticArrays.jl/issues/128
R = SVector(convert(Tuple, q))

# solve d(s*R)/dQ (because its easy)
dsRdQ = @SMatrix [ 2*q.w 2*q.x -2*q.y -2*q.z ;
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