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Add more methods to quat #132

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merged 7 commits into from
Nov 25, 2023
Merged

Add more methods to quat #132

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3159443
add more methods to `quat`
hyrodium Nov 6, 2023
2d5d6d3
fix typo
hyrodium Nov 6, 2023
5ebf29f
Fix docstring in `src/Quaternion.jl`
hyrodium Nov 25, 2023
8f4c091
avoid tests on unbound_args
hyrodium Nov 25, 2023
a572a1f
add more tests on `quat`
hyrodium Nov 25, 2023
13e68a3
add more tests on `quat`
hyrodium Nov 25, 2023
538a840
replace `function quat end` with `quat`
hyrodium Nov 25, 2023
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40 changes: 35 additions & 5 deletions src/Quaternion.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,9 @@ Base.promote_rule(::Type{Quaternion{T}}, ::Type{S}) where {T <: Real, S <: Real}
Base.promote_rule(::Type{Quaternion{T}}, ::Type{Quaternion{S}}) where {T <: Real, S <: Real} = Quaternion{promote_type(T, S)}

"""
quat(r, [i, j, k])
quat(w, [x, y, z])

Convert real numbers or arrays to quaternion. `i, j, k` defaults to zero.
Convert real numbers or arrays to quaternion. `x, y, z` defaults to zero.

# Examples
```jldoctest
Expand All @@ -47,17 +47,47 @@ julia> quat([1, 2, 3])
Quaternion{Int64}(3, 0, 0, 0)
```
"""
quat
function quat end
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quat(p, v1, v2, v3) = Quaternion(p, v1, v2, v3)
quat(x) = Quaternion(x)
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Technically this removal would be breaking. e.g. this would block users from constructing quaternions with SymbolicUtils.Num or Unitful.Quantity. Not that I'm opposed to it, but we need to be certain we're fine with that first.

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I think this is not a breaking change.

No problem with Symbolics.Num because it's a subtype of Real.

julia> using Symbolics, Quaternions

julia> a = Symbolics.Num(3)
3

julia> quat(a,a,a,a)
Quaternion{Num}(3, 3, 3, 3)

julia> quat(a)
Quaternion{Num}(3, 0, 0, 0)

julia> Symbolics.Num <: Real
true

Unitful.Quantitiy is already not compatible with Quaternions.jl.

Before this PR

julia> using Unitful, Quaternions

julia> d = 3u"°"
3°

julia> quat(d)
ERROR: MethodError: no method matching Quaternion(::Quantity{Int64, NoDims, Unitful.FreeUnits{(°,), NoDims, nothing}})

Closest candidates are:
  (::Type{T})(::T) where T<:Number
   @ Core boot.jl:792
  (::Type{T})(::AbstractChar) where T<:Union{AbstractChar, Number}
   @ Base char.jl:50
  (::Type{T})(::Base.TwicePrecision) where T<:Number
   @ Base twiceprecision.jl:266
  ...

After this PR

julia> using Unitful, Quaternions

julia> d = 3u"°"
3°

julia> quat(d)
ERROR: MethodError: no method matching quat(::Quantity{Int64, NoDims, Unitful.FreeUnits{(°,), NoDims, nothing}})

Closest candidates are:
  quat(::Quaternion)
   @ Quaternions ~/.julia/dev/Quaternions/src/Quaternion.jl:52
  quat(::Real)
   @ Quaternions ~/.julia/dev/Quaternions/src/Quaternion.jl:53
  quat(::Real, ::Real, ::Real, ::Real)
   @ Quaternions ~/.julia/dev/Quaternions/src/Quaternion.jl:54
  ...

quat(q::Quaternion) = q
quat(s::Real) = Quaternion(s)
quat(s::Real, v1::Real, v2::Real, v3::Real) = Quaternion(s, v1, v2, v3)

## Array operations on quaternions ##
quat(A::AbstractArray{<:Quaternion}) = A
function quat(A::AbstractArray{T}) where T
if !isconcretetype(T)
error("`quat` not defined on abstractly-typed arrays; please convert to a more specific type")
end
convert(AbstractArray{typeof(quat(zero(T)))}, A)
end

"""
quat(T::Type)

Return an appropriate type which can represent a value of type `T` as a quaternion.
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Equivalent to `typeof(quat(zero(T)))`.

# Examples
```jldoctest
julia> quat(Quaternion{Int})
Quaternion{Int64}

julia> quat(Int)
Quaternion{Int64}
```
"""
quat(::Type{T}) where {T<:Real} = Quaternion{T}
quat(::Type{Quaternion{T}}) where {T<:Real} = Quaternion{T}

quat(::Missing) = missing
# Same definitioin as in Base: https://github.com/JuliaLang/julia/blob/v1.9.3/base/missing.jl#L111-L115
quat(::Type{Missing}) = Missing
function quat(::Type{Union{T, Missing}}) where T
T === Any && throw(MethodError(quat, (Any,))) # To prevent StackOverflowError
Union{quat(T), Missing}
end
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"""
real(T::Type{<:Quaternion})

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