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Merge pull request #1283 from waywardmonkeys/dual-quaternion-wrong-self-convention

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DualQuaternion: Fix to_vector self convention.
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Sébastien Crozet 2023-09-30 18:13:23 +02:00 committed by GitHub
commit 5a9d036226
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1 changed files with 7 additions and 7 deletions
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14
src/geometry/dual_quaternion.rs
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@ -320,7 +320,7 @@ where
} }
impl<T: RealField> DualQuaternion<T> { impl<T: RealField> DualQuaternion<T> {
fn to_vector(self) -> OVector<T, U8> { fn to_vector(&self) -> OVector<T, U8> {
self.as_ref().clone().into() self.as_ref().clone().into()
} }
} }
@ -335,9 +335,9 @@ impl<T: RealField + AbsDiffEq<Epsilon = T>> AbsDiffEq for DualQuaternion<T> {
#[inline] #[inline]
fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool { fn abs_diff_eq(&self, other: &Self, epsilon: Self::Epsilon) -> bool {
self.clone().to_vector().abs_diff_eq(&other.clone().to_vector(), epsilon.clone()) || self.to_vector().abs_diff_eq(&other.to_vector(), epsilon.clone()) ||
// Account for the double-covering of S², i.e. q = -q // Account for the double-covering of S², i.e. q = -q
self.clone().to_vector().iter().zip(other.clone().to_vector().iter()).all(|(a, b)| a.abs_diff_eq(&-b.clone(), epsilon.clone())) self.to_vector().iter().zip(other.to_vector().iter()).all(|(a, b)| a.abs_diff_eq(&-b.clone(), epsilon.clone()))
} }
} }
@ -354,9 +354,9 @@ impl<T: RealField + RelativeEq<Epsilon = T>> RelativeEq for DualQuaternion<T> {
epsilon: Self::Epsilon, epsilon: Self::Epsilon,
max_relative: Self::Epsilon, max_relative: Self::Epsilon,
) -> bool { ) -> bool {
self.clone().to_vector().relative_eq(&other.clone().to_vector(), epsilon.clone(), max_relative.clone()) || self.to_vector().relative_eq(&other.to_vector(), epsilon.clone(), max_relative.clone()) ||
// Account for the double-covering of S², i.e. q = -q // Account for the double-covering of S², i.e. q = -q
self.clone().to_vector().iter().zip(other.clone().to_vector().iter()).all(|(a, b)| a.relative_eq(&-b.clone(), epsilon.clone(), max_relative.clone())) self.to_vector().iter().zip(other.to_vector().iter()).all(|(a, b)| a.relative_eq(&-b.clone(), epsilon.clone(), max_relative.clone()))
} }
} }
@ -368,9 +368,9 @@ impl<T: RealField + UlpsEq<Epsilon = T>> UlpsEq for DualQuaternion<T> {
#[inline] #[inline]
fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool { fn ulps_eq(&self, other: &Self, epsilon: Self::Epsilon, max_ulps: u32) -> bool {
self.clone().to_vector().ulps_eq(&other.clone().to_vector(), epsilon.clone(), max_ulps) || self.to_vector().ulps_eq(&other.to_vector(), epsilon.clone(), max_ulps) ||
// Account for the double-covering of S², i.e. q = -q. // Account for the double-covering of S², i.e. q = -q.
self.clone().to_vector().iter().zip(other.clone().to_vector().iter()).all(|(a, b)| a.ulps_eq(&-b.clone(), epsilon.clone(), max_ulps)) self.to_vector().iter().zip(other.to_vector().iter()).all(|(a, b)| a.ulps_eq(&-b.clone(), epsilon.clone(), max_ulps))
} }
} }