add power methods

JuliaGeometry · Sep 20, 2023 · 71ebd5f · 71ebd5f
1 parent daa50b1
commit 71ebd5f
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Showing 3 changed files with 33 additions and 7 deletions.
diff --git a/src/angleaxis_types.jl b/src/angleaxis_types.jl
@@ -125,9 +125,6 @@ end
 @inline Base.:*(aa1::AngleAxis, aa2::AngleAxis) = QuatRotation(aa1) * QuatRotation(aa2)
 
 @inline Base.inv(aa::AngleAxis) = AngleAxis(-aa.theta, aa.axis_x, aa.axis_y, aa.axis_z)
-@inline Base.:^(aa::AngleAxis, t::Real) = AngleAxis(aa.theta*t, aa.axis_x, aa.axis_y, aa.axis_z)
-@inline Base.:^(aa::AngleAxis, t::Integer) = AngleAxis(aa.theta*t, aa.axis_x, aa.axis_y, aa.axis_z) # to avoid ambiguity
-
 
 # define identity rotations for convenience
 @inline Base.one(::Type{AngleAxis}) = AngleAxis(0.0, 1.0, 0.0, 0.0)
@@ -204,8 +201,6 @@ end
 @inline Base.:*(rv1::RotationVec, rv2::RotationVec) = QuatRotation(rv1) * QuatRotation(rv2)
 
 @inline Base.inv(rv::RotationVec) = RotationVec(-rv.sx, -rv.sy, -rv.sz)
-@inline Base.:^(rv::RotationVec, t::Real) = RotationVec(rv.sx*t, rv.sy*t, rv.sz*t)
-@inline Base.:^(rv::RotationVec, t::Integer) = RotationVec(rv.sx*t, rv.sy*t, rv.sz*t) # to avoid ambiguity
 
 # rotation properties
 @inline rotation_angle(rv::RotationVec) = sqrt(rv.sx * rv.sx + rv.sy * rv.sy + rv.sz * rv.sz)

diff --git a/src/core_types.jl b/src/core_types.jl
@@ -175,8 +175,6 @@ end
 end
 
 Base.:*(r1::Angle2d, r2::Angle2d) = Angle2d(r1.theta + r2.theta)
-Base.:^(r::Angle2d, t::Real) = Angle2d(r.theta*t)
-Base.:^(r::Angle2d, t::Integer) = Angle2d(r.theta*t)
 Base.inv(r::Angle2d) = Angle2d(-r.theta)
 
 @inline function Base.getindex(r::Angle2d, i::Int)

diff --git a/src/elementary_functions.jl b/src/elementary_functions.jl
@@ -80,3 +80,36 @@ Base.cbrt(r::Rotation{3}) = cbrt(QuatRotation(r))
 
 # General dimensions
 Base.cbrt(r::Rotation{N}) where N = exp(log(r)/3)
+
+## power
+# 2d
+Base.:^(r::Angle2d, p::Real) = Angle2d(r.theta*p)
+Base.:^(r::Angle2d, p::Integer) = Angle2d(r.theta*p)
+Base.:^(r::RotMatrix{2}, p::Real) = RotMatrix(Angle2d(r)^p)
+Base.:^(r::RotMatrix{2}, p::Integer) = RotMatrix(Angle2d(r)^p)
+
+# 3d
+Base.:^(r::RotX, p::Real) = RotX(r.theta*p)
+Base.:^(r::RotX, p::Integer) = RotX(r.theta*p)
+Base.:^(r::RotY, p::Real) = RotY(r.theta*p)
+Base.:^(r::RotY, p::Integer) = RotY(r.theta*p)
+Base.:^(r::RotZ, p::Real) = RotZ(r.theta*p)
+Base.:^(r::RotZ, p::Integer) = RotZ(r.theta*p)
+Base.:^(r::AngleAxis, p::Real) = AngleAxis(r.theta*p, r.axis_x, r.axis_y, r.axis_z)
+Base.:^(r::AngleAxis, p::Integer) = AngleAxis(r.theta*p, r.axis_x, r.axis_y, r.axis_z)
+Base.:^(r::RotationVec, p::Real) = RotaitonVec(r.sx*p, r.sy*p, r.sz*p)
+Base.:^(r::RotationVec, p::Integer) = RotaitonVec(r.sx*p, r.sy*p, r.sz*p)
+Base.:^(r::QuatRotation, p::Real) = QuatRotation((r.q)^p)
+Base.:^(r::QuatRotation, p::Integer) = QuatRotation((r.q)^p)
+Base.:^(r::RotMatrix{3}, p::Real) = RotMatrix{3}(QuatRotation(r)^p)
+Base.:^(r::RotMatrix{3}, p::Integer) = RotMatrix{3}(QuatRotation(r)^p)
+Base.:^(r::RodriguesParam, p::Real) = RodriguesParam(QuatRotation(r)^p)
+Base.:^(r::RodriguesParam, p::Integer) = RodriguesParam(QuatRotation(r)^p)
+Base.:^(r::MRP, p::Real) = MRP(QuatRotation(r)^p)
+Base.:^(r::MRP, p::Integer) = MRP(QuatRotation(r)^p)
+Base.:^(r::Rotation{3}, p::Real) = QuatRotation(r)^p
+Base.:^(r::Rotation{3}, p::Integer) = QuatRotation(r)^p
+
+# General dimensions
+Base.:^(r::Rotation{N}, p::Real) where N = exp(log(r)*p)
+Base.:^(r::Rotation{N}, p::Integer) where N = Rotation{N}(r^p)