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Renames UnitQuaternion to QuatRotation #210

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Dec 6, 2021
Merged

Renames UnitQuaternion to QuatRotation #210

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13b5603
Renames `UnitQuaternion` to `QuatRotation`
ferrolho Dec 1, 2021
28945fa
Get underlying quaternion parameters via `Rotations.params(q)`
ferrolho Dec 4, 2021
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2 changes: 1 addition & 1 deletion src/MeshCat.jl
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Expand Up @@ -28,7 +28,7 @@ using GeometryBasics: GeometryBasics,
widths

using CoordinateTransformations
using Rotations: rotation_between, Rotation, RotMatrix, UnitQuaternion
using Rotations: rotation_between, Rotation, RotMatrix, QuatRotation
using Colors: Color, Colorant, RGB, RGBA, alpha, hex, red, green, blue
using StaticArrays: StaticVector, SVector, SDiagonal, SMatrix
using Parameters: @with_kw
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2 changes: 1 addition & 1 deletion src/arrow_visualizer.jl
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Expand Up @@ -47,7 +47,7 @@ function settransform!(vis::ArrowVisualizer, base::Point{3}, vec::Vec{3};
rotation = if vec_length > eps(T)
rotation_between(SVector(0., 0., 1.), vec)
else
one(UnitQuaternion{Float64})
one(QuatRotation{Float64})
end |> LinearMap

vis_tform = Translation(base) ∘ rotation
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6 changes: 3 additions & 3 deletions src/atframe.jl
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Expand Up @@ -30,9 +30,9 @@ function getclip!(animation::Animation, path::Path)
end

js_quaternion(m::AbstractMatrix) = js_quaternion(RotMatrix(SMatrix{3, 3, eltype(m)}(m)))
js_quaternion(q::UnitQuaternion) = [q.x, q.y, q.z, q.w]
js_quaternion(::UniformScaling) = js_quaternion(UnitQuaternion(1., 0., 0., 0.))
js_quaternion(r::Rotation) = js_quaternion(UnitQuaternion(r))
js_quaternion(q::QuatRotation) = [q.q.v1, q.q.v2, q.q.v3, q.q.s]
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js_quaternion(::UniformScaling) = js_quaternion(QuatRotation(1., 0., 0., 0.))
js_quaternion(r::Rotation) = js_quaternion(QuatRotation(r))
js_quaternion(tform::Transformation) = js_quaternion(transform_deriv(tform, SVector(0., 0, 0)))

function js_scaling(tform::AbstractAffineMap)
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