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Rotations 0.9.0
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@tkoolen tkoolen released this 14 Sep 04:05
· 185 commits to master since this release
v0.9.0
d080990
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Learn about vigilant mode.
  • make it possible to construct Quats with negative real (scalar) part, i.e. stop using copysign in the Quat constructor to always convert to a representation with nonnegative real part. This makes it easier to integrate quaternions. Also fixes a bug in dQuat/dSPQuat Jacobian at the identity rotation (#72, #73, #77, #81)
  • introduce principal_value function, which, for rotation types that can represent a single rotation in multiple ways, converts to a canonical representation (#76)
  • fix bug in multiplication of RodriguesVec and StaticVector (#75)
  • fix bug in isrotation and make it return false for reflections (#79, #80)
  • make convert methods and constructors that convert one rotation type to another do the same thing (fixes performance bugs) (#82)

Special thanks to @ryanelandt, @twadleigh, and @bhalonen for their contributions to this release!

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