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upgrade mean of rotations to new LinearAlgebra syntax #90

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upgrade mean of rotations to new LinearAlgebra syntax #90

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d04a783
upgrade mean of rotations to new LinearAlgebra syntax
Jan 29, 2019
d8e54a2
Revert "upgrade mean of rotations to new LinearAlgebra syntax"
Jan 29, 2019
f2c13f1
fix mean
Jan 29, 2019
18a77bb
forgot to grab right eigenvec
Jan 31, 2019
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2 changes: 1 addition & 1 deletion src/euler_types.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ for axis in [:X, :Y, :Z]
@eval begin
struct $RotType{T} <: Rotation{3,T}
theta::T
$RotType{T}(theta) where {T} = new{T}(theta)
$RotType{T}(theta::Real) where {T} = new{T}(theta)
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This change seems unrelated and would break e.g. interop with SymPy.Sym. Please revert.

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oops! haha I left that in by accident. There are some problems with mean() in its current form that I was trying to address. Namely that you cannot take the mean of two or three axis rotations. I'll file an issue for that!

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and I'll definitely add a test. I'm a little slammed right now but in a day or two!

$RotType{T}(r::$RotType) where {T} = new{T}(r.theta)
end

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6 changes: 3 additions & 3 deletions src/mean.jl
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Expand Up @@ -37,8 +37,8 @@ function Statistics.mean(qvec::AbstractVector{Quat{T}}, method::Integer = 0) whe
Qi = @SVector [q.w, q.x, q.y, q.z] # convert types to ensure we don't get quaternion multiplication
M .+= Qi * (Qi')
end
evec = eigfact(Symmetric(M), 4:4)
Qbar = Quat(evec.vectors[1], evec.vectors[2], evec.vectors[3], evec.vectors[4]) # This will renormalize the quaternion...
vectors = eigvecs(Symmetric(M))
Qbar = Quat(vectors[1], vectors[2], vectors[3], vectors[4]) # This will renormalize the quaternion...
#else
# error("I haven't coded this")
#end
Expand All @@ -47,5 +47,5 @@ function Statistics.mean(qvec::AbstractVector{Quat{T}}, method::Integer = 0) whe
end

function Statistics.mean(vec::AbstractVector{R}) where R<:Rotation
R(mean(convert(Vector{Quat{eltype(R)}}, vec)))
R(Statistics.mean(convert(Vector{Quat{eltype(R)}}, vec)))
end