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KristofferCKristofferC
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fix deprecations and upgrade to 0.6
1 parent fd6cde2 commit 58aed50

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6 files changed

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‎.travis.yml‎

Lines changed: 0 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,6 @@ os:
33
- linux
44
- osx
55
julia:
6-
- 0.5
76
- 0.6
87
- nightly
98

‎src/DualQuaternion.jl‎

Lines changed: 100 additions & 100 deletions
Original file line numberDiff line numberDiff line change
@@ -1,170 +1,170 @@
11
using DualNumbers
22

3-
immutable DualQuaternion{T<:Real} <: Number
3+
struct DualQuaternion{T<:Real} <: Number
44
q0::Quaternion{T}
55
qe::Quaternion{T}
66
norm::Bool
77
end
88

9-
DualQuaternion( q0::Quaternion, qe::Quaternion, n::Bool = false) =
10-
DualQuaternion( promote( q0, qe )..., n )
9+
DualQuaternion(q0::Quaternion, qe::Quaternion, n::Bool = false) =
10+
DualQuaternion(promote(q0, qe)..., n)
1111

12-
DualQuaternion( d1::Dual, d2::Dual, d3::Dual, d4::Dual, n::Bool = false) =
13-
DualQuaternion( Quaternion( d1.re, d2.re, d3.re, d4.re, n ),
14-
Quaternion( d1.du, d2.du, d3.du, d4.du ), n )
12+
DualQuaternion(d1::Dual, d2::Dual, d3::Dual, d4::Dual, n::Bool = false) =
13+
DualQuaternion(Quaternion(d1.re, d2.re, d3.re, d4.re, n),
14+
Quaternion(d1.du, d2.du, d3.du, d4.du), n)
1515

16-
DualQuaternion( x::Real ) = DualQuaternion( Quaternion( x ), Quaternion( zero(x) ), abs(x) == one(x) )
16+
DualQuaternion(x::Real) = DualQuaternion(Quaternion(x), Quaternion(zero(x)), abs(x) == one(x))
1717

18-
DualQuaternion( d::Dual ) = DualQuaternion( d, zero(d), zero(d), zero(d), abs(d) == one(d.re) )
18+
DualQuaternion(d::Dual) = DualQuaternion(d, zero(d), zero(d), zero(d), abs(d) == one(d.re))
1919

20-
DualQuaternion( q::Quaternion ) = DualQuaternion( q, zero(q), q.norm )
20+
DualQuaternion(q::Quaternion) = DualQuaternion(q, zero(q), q.norm)
2121

22-
DualQuaternion( a::Vector ) = DualQuaternion( zero(Quaternion{typeof(a[1])}), Quaternion( a ) )
22+
DualQuaternion(a::Vector) = DualQuaternion(zero(Quaternion{typeof(a[1])}), Quaternion(a))
2323

24-
convert{T}(::Type{DualQuaternion{T}}, x::Real) =
25-
DualQuaternion( convert( Quaternion{T}, x ), convert(Quaternion{T},0) )
24+
convert(::Type{DualQuaternion{T}}, x::Real) where {T} =
25+
DualQuaternion(convert(Quaternion{T}, x), convert(Quaternion{T}, 0))
2626

27-
convert{T}(::Type{DualQuaternion{T}}, d::Dual) =
28-
DualQuaternion( convert( Dual{T}, d ), convert( Dual{T}, 0 ), convert( Dual{T}, 0 ), convert( Dual{T}, 0 ) )
27+
convert(::Type{DualQuaternion{T}}, d::Dual) where {T} =
28+
DualQuaternion(convert(Dual{T}, d), convert(Dual{T}, 0), convert(Dual{T}, 0), convert(Dual{T}, 0))
2929

30-
convert{T}(::Type{DualQuaternion{T}}, q::Quaternion) =
31-
DualQuaternion( convert( Quaternion{T}, q ), convert( Quaternion{T}, 0 ), q.norm )
30+
convert(::Type{DualQuaternion{T}}, q::Quaternion) where {T} =
31+
DualQuaternion(convert(Quaternion{T}, q), convert(Quaternion{T}, 0), q.norm)
3232

33-
convert{T<:Real}(::Type{DualQuaternion{T}}, q::DualQuaternion{T}) = q
33+
convert(::Type{DualQuaternion{T}}, q::DualQuaternion{T}) where {T <: Real} = q
3434

35-
convert{T}(::Type{DualQuaternion{T}}, dq::DualQuaternion) =
36-
DualQuaternion( convert( Quaternion{T}, dq.q0 ), convert( Quaternion{T}, dq.qe ), dq.norm )
35+
convert(::Type{DualQuaternion{T}}, dq::DualQuaternion) where {T} =
36+
DualQuaternion(convert(Quaternion{T}, dq.q0), convert(Quaternion{T}, dq.qe), dq.norm)
3737

38-
promote_rule{T<:Real}(::Type{DualQuaternion{T}}, ::Type{T}) = DualQuaternion{T}
39-
promote_rule{T<:Real}(::Type{DualQuaternion}, ::Type{T}) = DualQuaternion
40-
promote_rule{T<:Real,S<:Real}(::Type{DualQuaternion{T}}, ::Type{S}) = DualQuaternion{promote_type(T,S)}
41-
promote_rule{T<:Real,S<:Real}(::Type{Quaternion{T}}, ::Type{DualQuaternion{S}}) = DualQuaternion{promote_type(T,S)}
42-
promote_rule{T<:Real,S<:Real}(::Type{DualQuaternion{T}}, ::Type{DualQuaternion{S}}) = DualQuaternion{promote_type(T,S)}
38+
promote_rule(::Type{DualQuaternion{T}}, ::Type{T}) where {T <: Real} = DualQuaternion{T}
39+
promote_rule(::Type{DualQuaternion}, ::Type{T}) where {T <: Real} = DualQuaternion
40+
promote_rule(::Type{DualQuaternion{T}}, ::Type{S}) where {T <: Real, S <: Real} = DualQuaternion{promote_type(T, S)}
41+
promote_rule(::Type{Quaternion{T}}, ::Type{DualQuaternion{S}}) where {T <: Real, S <: Real} = DualQuaternion{promote_type(T, S)}
42+
promote_rule(::Type{DualQuaternion{T}}, ::Type{DualQuaternion{S}}) where {T <: Real, S <: Real} = DualQuaternion{promote_type(T, S)}
4343

44-
dualquat( q1, q2, n=false ) = DualQuaternion( q1, q2, n )
45-
dualquat( d1, d2, d3, d4, n=false ) = DualQuaternion( d1, d2, d3, d4, n )
46-
dualquat( x ) = DualQuaternion( x )
44+
dualquat(q1, q2, n=false) = DualQuaternion(q1, q2, n)
45+
dualquat(d1, d2, d3, d4, n=false) = DualQuaternion(d1, d2, d3, d4, n)
46+
dualquat(x) = DualQuaternion(x)
4747

4848
function show(io::IO, dq::DualQuaternion)
49-
show( io, dq.q0 )
50-
print( io, " + ( " )
51-
show( io, dq.qe )
52-
print( io, " )du" )
49+
show(io, dq.q0)
50+
print(io, " + ( ")
51+
show(io, dq.qe)
52+
print(io, " )du")
5353
end
5454

55-
Q0( dq::DualQuaternion ) = dq.q0
56-
Qe( dq::DualQuaternion ) = dq.qe
55+
Q0(dq::DualQuaternion) = dq.q0
56+
Qe(dq::DualQuaternion) = dq.qe
5757

58-
(/)(dq::DualQuaternion, x::Real) = DualQuaternion( dq.q0 / x, dq.qe / x )
58+
(/)(dq::DualQuaternion, x::Real) = DualQuaternion(dq.q0 / x, dq.qe / x)
5959

6060
(/)(dq::DualQuaternion, d::Dual) =
61-
DualQuaternion( dual( dq.q0.s , dq.qe.s ) / d,
62-
dual( dq.q0.v1, dq.qe.v1 ) / d,
63-
dual( dq.q0.v2, dq.qe.v2 ) / d,
64-
dual( dq.q0.v3, dq.qe.v3 ) / d )
65-
66-
abs2( dq::DualQuaternion ) = dq.norm ? dual( one( dq.q0.s ) ) :
67-
dual( abs2( dq.q0 ) ,
68-
2.0 * ( dq.q0.s * dq.qe.s +
61+
DualQuaternion(dual(dq.q0.s, dq.qe.s) / d,
62+
dual(dq.q0.v1, dq.qe.v1) / d,
63+
dual(dq.q0.v2, dq.qe.v2) / d,
64+
dual(dq.q0.v3, dq.qe.v3) / d)
65+
66+
abs2(dq::DualQuaternion) = dq.norm ? dual(one(dq.q0.s)) :
67+
dual(abs2(dq.q0),
68+
2.0 * (dq.q0.s * dq.qe.s +
6969
dq.q0.v1 * dq.qe.v1 +
7070
dq.q0.v2 * dq.qe.v2 +
71-
dq.q0.v3 * dq.qe.v3 ) )
71+
dq.q0.v3 * dq.qe.v3))
7272

73-
abs( dq::DualQuaternion ) = dq.norm ? dual( one( dq.q0.s ) ) : sqrt( abs2( dq ) )
73+
abs(dq::DualQuaternion) = dq.norm ? dual(one(dq.q0.s)) : sqrt(abs2(dq))
7474

75-
conj( dq::DualQuaternion ) = DualQuaternion( conj( dq.q0 ), conj( dq.qe ), dq.norm )
76-
dconj( dq::DualQuaternion ) = DualQuaternion( dq.q0, -dq.qe, dq.norm )
75+
conj(dq::DualQuaternion) = DualQuaternion(conj(dq.q0), conj(dq.qe), dq.norm)
76+
dconj(dq::DualQuaternion) = DualQuaternion(dq.q0, -dq.qe, dq.norm)
7777

78-
inv( dq::DualQuaternion ) = dq.norm ? conj( dq ) : conj( dq ) / abs2( dq )
78+
inv(dq::DualQuaternion) = dq.norm ? conj(dq) : conj(dq) / abs2(dq)
7979

80-
function normalize( dq::DualQuaternion )
81-
if ( dq.norm )
80+
function normalize(dq::DualQuaternion)
81+
if (dq.norm)
8282
return dq
8383
end
84-
a = abs( dq )
85-
if abs( a ) > 0
84+
a = abs(dq)
85+
if abs(a) > 0
8686
qa = dq / a
87-
dualquat( qa.q0, qa.qe, true )
87+
dualquat(qa.q0, qa.qe, true)
8888
else
8989
dq
9090
end
9191
end
9292

93-
function normalizea( dq::DualQuaternion )
94-
if ( dq.norm )
95-
return ( dq, one( dual ) )
93+
function normalizea(dq::DualQuaternion)
94+
if (dq.norm)
95+
return (dq, one(dual))
9696
end
97-
a = abs( dq )
98-
if abs( a ) > 0
97+
a = abs(dq)
98+
if abs(a) > 0
9999
qa = dq / a
100-
dualquat( qa.q0, qa.qe, true ), a
100+
dualquat(qa.q0, qa.qe, true), a
101101
else
102-
dq, zero( dual )
102+
dq, zero(dual)
103103
end
104104
end
105105

106-
(-)(dq::DualQuaternion) = DualQuaternion( -dq.q0, -dq.qe, dq.norm)
106+
(-)(dq::DualQuaternion) = DualQuaternion(-dq.q0, -dq.qe, dq.norm)
107107

108-
(+)(dq::DualQuaternion, dw::DualQuaternion) = DualQuaternion( dq.q0 + dw.q0, dq.qe + dw.qe )
109-
(-)(dq::DualQuaternion, dw::DualQuaternion) = DualQuaternion( dq.q0 - dw.q0, dq.qe - dw.qe )
110-
(*)(dq::DualQuaternion, dw::DualQuaternion) = DualQuaternion( dq.q0 * dw.q0,
108+
(+)(dq::DualQuaternion, dw::DualQuaternion) = DualQuaternion(dq.q0 + dw.q0, dq.qe + dw.qe)
109+
(-)(dq::DualQuaternion, dw::DualQuaternion) = DualQuaternion(dq.q0 - dw.q0, dq.qe - dw.qe)
110+
(*)(dq::DualQuaternion, dw::DualQuaternion) = DualQuaternion(dq.q0 * dw.q0,
111111
dq.q0 * dw.qe + dq.qe * dw.q0,
112-
dq.norm && dw.norm )
113-
(/)(dq::DualQuaternion, dw::DualQuaternion) = dq*inv(dw)
112+
dq.norm && dw.norm)
113+
(/)(dq::DualQuaternion, dw::DualQuaternion) = dq * inv(dw)
114114

115-
function angleaxis( dq::DualQuaternion )
116-
tq = dq.qe * conj( dq.q0 )
117-
t = [ 2.0 * tq.v1, 2.0 * tq.v2, 2.0 * tq.v3 ]
115+
function angleaxis(dq::DualQuaternion)
116+
tq = dq.qe * conj(dq.q0)
117+
t = [2.0 * tq.v1, 2.0 * tq.v2, 2.0 * tq.v3]
118118
q0s = dq.q0.s
119-
th0, s0 = angleaxis( dq.q0 )
120-
sq0 = quat( 0.0, s0 )
121-
if abs( abs( q0s ) - one( q0s ) ) == 0
122-
th = dual( th0, 0.5 * abs( quat( 0, t ) ) )
123-
th, dualquat( sq0 )
119+
th0, s0 = angleaxis(dq.q0)
120+
sq0 = quat(0.0, s0)
121+
if abs(abs(q0s) - one(q0s)) == 0
122+
th = dual(th0, 0.5 * abs(quat(0, t)))
123+
th, dualquat(sq0)
124124
else
125-
th = dual( th0, 0.5 * dot( t, s0 ) )
126-
s0c1 = cross( s0, t )
127-
tanth = tan( th0 )
128-
s0c2 = ( s0c1 / tanth + t ) * 0.5
129-
sqev = cross( s0c2, s0 )
130-
th, dualquat( sq0, quat( 0.0, sqev ) )
125+
th = dual(th0, 0.5 * dot(t, s0))
126+
s0c1 = cross(s0, t)
127+
tanth = tan(th0)
128+
s0c2 = (s0c1 / tanth + t) * 0.5
129+
sqev = cross(s0c2, s0)
130+
th, dualquat(sq0, quat(0.0, sqev))
131131
end
132132
end
133133

134-
function angle( dq::DualQuaternion )
135-
th, ax = angleaxis( dq )
134+
function angle(dq::DualQuaternion)
135+
th, ax = angleaxis(dq)
136136
th
137137
end
138138

139-
function axis( dq::DualQuaternion )
140-
th, ax = angleaxis( dq )
139+
function axis(dq::DualQuaternion)
140+
th, ax = angleaxis(dq)
141141
ax
142142
end
143143

144-
function exp( dq::DualQuaternion )
145-
se = dual( dq.q0.s, dq.qe.s )
146-
se = exp( se )
147-
dq = dualquat( quat( 0.0, imag( dq.q0 ) ), quat( 0.0, imag( dq.qe ) ) )
148-
dq, th = normalizea( dq )
144+
function exp(dq::DualQuaternion)
145+
se = dual(dq.q0.s, dq.qe.s)
146+
se = exp(se)
147+
dq = dualquat(quat(0.0, imag(dq.q0)), quat(0.0, imag(dq.qe)))
148+
dq, th = normalizea(dq)
149149
if dq.norm
150-
dualquat( se ) * ( dualquat( cos( th ) ) + dq * dualquat( sin( th ) ) )
150+
dualquat(se) * (dualquat(cos(th)) + dq * dualquat(sin(th)))
151151
else
152-
dualquat( se )
152+
dualquat(se)
153153
end
154154
end
155155

156-
function log( dq::DualQuaternion )
157-
dq, a = normalizea( dq )
158-
sl = log( a )
159-
th, s = angleaxis( dq )
160-
s * dualquat( th ) + dualquat( sl )
156+
function log(dq::DualQuaternion)
157+
dq, a = normalizea(dq)
158+
sl = log(a)
159+
th, s = angleaxis(dq)
160+
s * dualquat(th) + dualquat(sl)
161161
end
162162

163-
(^)(dq::DualQuaternion, dw::DualQuaternion) = exp( dw * log( dq ) )
163+
(^)(dq::DualQuaternion, dw::DualQuaternion) = exp(dw * log(dq))
164164

165-
function sqrt( dq::DualQuaternion )
166-
exp( 0.5 * log( dq ) )
165+
function sqrt(dq::DualQuaternion)
166+
exp(0.5 * log(dq))
167167
end
168168

169-
dualquatrand() = dualquat( quatrand(), quatrand() )
170-
ndualquatrand() = normalize( dualquatrand() )
169+
dualquatrand() = dualquat(quatrand(), quatrand())
170+
ndualquatrand() = normalize(dualquatrand())

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