quaternion 0.1.0

checksums.yaml

@@ -0,0 +1,7 @@
+---
+SHA1:
+  metadata.gz: c189f435b49a8ec52111f49762b9f3401acff57c
+  data.tar.gz: 5114e0133f4e73eb7f50baa31036457863d40a26
+SHA512:
+  metadata.gz: d7a653a9ec36bea1e216b58de34396c5c8fefdda9d1e000b7e557cbbd667a67b5a80c82f16effcb28576253a61687907ac4c7b16f1755b47549e26fd4b91775b
+  data.tar.gz: b496fde8478ffa2d2719fc63f1062016cb7efab8f4a50413f79f33a5f7d3210923b254067a721ed18c6bfb258d21b3ba72069cf347bb859ab3382f86fc8e5ff4

data/.gitignore

@@ -0,0 +1,10 @@
+/.bundle/
+/.yardoc
+/Gemfile.lock
+/_yardoc/
+/coverage/
+/doc/
+/rdoc/
+/pkg/
+/spec/reports/
+/tmp/

data/.travis.yml

@@ -0,0 +1,3 @@
+language: ruby
+rvm:
+  - 2.1.5

data/Gemfile

@@ -0,0 +1,4 @@
+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in quaternion.gemspec
+gemspec

data/LICENSE.txt

@@ -0,0 +1,21 @@
+The MIT License (MIT)
+
+Copyright (c) 2015 Hiroyuki Tanaka
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

data/README.md

@@ -0,0 +1,28 @@
+# Quaternion
+
+
+## Installation
+
+Add this line to your application's Gemfile:
+
+```ruby
+gem 'quaternion'
+```
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+    $ gem install quaternion
+
+## Usage
+
+## Contributing
+
+1. Fork it ( https://github.com/tanahiro/quaternion/fork )
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create a new Pull Request

data/Rakefile

@@ -0,0 +1,17 @@
+require "bundler/gem_tasks"
+require "rake/testtask"
+
+Rake::TestTask.new(:test) do |t|
+  t.libs << "test"
+end
+
+#task :default => :test
+
+require 'rdoc/task'
+RDoc::Task.new do |rdoc|
+  rdoc.main = "README.md"
+  rdoc.rdoc_files.include("README.md", "lib/**/*.rb")
+  rdoc.rdoc_dir = "rdoc"
+  rdoc.title = "Quaternion"
+end
+

data/bin/console

@@ -0,0 +1,14 @@
+#!/usr/bin/env ruby
+
+require "bundler/setup"
+require "quaternion"
+
+# You can add fixtures and/or initialization code here to make experimenting
+# with your gem easier. You can also use a different console, if you like.
+
+# (If you use this, don't forget to add pry to your Gemfile!)
+# require "pry"
+# Pry.start
+
+require "irb"
+IRB.start

data/bin/setup

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -euo pipefail
+IFS=$'\n\t'
+
+bundle install
+
+# Do any other automated setup that you need to do here

data/lib/quaternion.rb

@@ -0,0 +1,225 @@
+root_dir = "#{__dir__}/.."
+
+require 'matrix'
+require "#{root_dir}/lib/quaternion/version"
+require "#{root_dir}/lib/quaternion/numeric"
+
+##
+# Class for Quaternion calculation.
+class Quaternion
+  include Math
+
+  ##
+  # Returns an instance of Quaternion.
+  # The following code instanciate a quaternion of
+  # q0 + q1 _i_ + q2 _j_ + q3 _k_, where q0 = 1, q1 = 2, q2 = 3 and q3 = 4.
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)         # => Quaternion(1.0; Vector[2.0, 3.0, 4.0])
+  #   q = Quaternion.new(1.0, [2.0, 3.0, 4.0])       # => Quaternion(1.0; Vector[2.0, 3.0, 4.0])
+  #   q = Quaternion.new(1.0, Vector[2.0, 3.0, 4.0]) # => Quaternion(1.0; Vector[2.0, 3.0, 4.0])
+  def initialize *vars
+    case vars.size
+    when 2
+      @w = vars[0]
+
+      case vars[1]
+      when Vector
+        @v = vars[1].clone
+      when Array
+        @v = Vector.elements(vars[1], true)
+      else
+        raise ArgumentError, "Invalid type"
+      end
+    when 4
+      @w = vars[0]
+      @v = Vector.elements(vars[1..3], true)
+    end
+  end
+
+  ##
+  # Returns element +i+.
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q[0]  # => 1.0
+  #   q[:w] # => 1.0
+  #   q[:x] # => 2.0
+  #   q[:y] # => 3.0
+  #   q[:z] # => 4.0
+  #   q[:v] # => Vector[2.0, 3.0, 4.0]
+  def [] i
+    case i
+    when :w, 0
+      return @w
+    when :x, 1
+      return @v[0]
+    when :y, 2
+      return @v[1]
+    when :z, 3
+      return @v[2]
+    when :v
+      return @v
+    else
+      raise ArgumentError, "Invalid index"
+    end
+  end
+
+  ##
+  # Sets +var+ to element +i+
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q[0] = 0.0
+  #   q # => Quaternion(0.0; Vector[2.0, 3.0, 4.0])
+  def []= i, var
+    case i
+    when :w, 0
+      @w = var
+    when :x, 1
+      @v = Vector.elements([var, @v[1], @v[2]])
+    when :y, 2
+      @v = Vector.elements([@v[0], var, @v[2]])
+    when :z, 3
+      @v = Vector.elements([@v[0], @v[1], var])
+    when :v
+      if var.is_a?(Array)
+        @v = Vector.elements(var, true)
+      elsif var.is_a?(Vector)
+        @v = var
+      else
+        raise ArgumentError, "Invalid type. Should be Array or Vector"
+      end
+    else
+      raise ArgumentError, "Invalid index"
+    end
+  end
+
+  ##
+  # Compares with other Quaternion
+  def == other
+    if other.is_a?(self.class)
+      if (@w == other[:w]) and (@v == other[:v])
+        return true
+      else
+        return false
+      end
+    else
+      return false
+    end
+  end
+
+  ##
+  # Returns result of addition.
+  #   q1 = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q2 = Quaternion.new(5.0, 6.0, 7.0, 8.0)
+  #   q1 + q2 # => Quaternion(6.0; Vector[8.0, 10.0, 12.0])
+  def + other
+    w = @w + other[:w]
+    v = @v + other[:v]
+
+    return Quaternion.new(w, v)
+  end
+
+  ##
+  # Returns result of subtraction
+  #   q1 = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q2 = Quaternion.new(5.0, 4.0, 3.0, 2.0)
+  #   q1 - q2 # => Quaternion(-4.0; Vector[-2.0, 0.0, 2.0])
+  def - other
+    w = @w - other[:w]
+    v = @v - other[:v]
+
+    return Quaternion.new(w, v)
+  end
+
+  ##
+  # Returns product with +other+.
+  # +other+ can be Quaternion or Numeric.
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q*2 # => Quarternion(2.0; Vector[4.0, 6.0, 8.0])
+  #
+  #   q1 = Quaternion.new(1.0, 4.0, 5.0, 6.0)
+  #   q*q1 # => Quaternion(-46.0, Vector[4.0, 12.0, 8.0])
+  def * other
+    case other
+    when self.class
+      w = @w*other[:w] - @v.inner_product(other[:v])
+      v = @w*other[:v] + @v*other[:w] + @v.cross_product(other[:v])
+
+      return self.class.new(w, v)
+    when Numeric
+      w = @w*other
+      v = @v*other
+
+      return self.class.new(w, v)
+    else
+      raise ArgumentError, "Invalide type"
+    end
+  end
+
+  ##
+  # Devision by a scalar +other+.
+  # Returns Quaternion with each element is divided by +other+.
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q/2 # => Quaternion(0.5; Vector[1.0, 1.5, 2.0])
+  def / other
+    case other
+    when Numeric
+      w = @w/other
+      v = @v/other
+
+      return self.class.new(w, v)
+    else
+      raise ArgumentError, "Invalid type"
+    end
+  end
+
+  ##
+  # Returns conjugate of +self+
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q.conjugate # => Quaternion(1.0; Vector[-2.0, -3.0, -4.0])
+  def conjugate
+    return self.class.new(@w, -@v)
+  end
+
+  ##
+  # Returns norm of +self+
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q.norm # => 5.477225575051661
+  def norm
+    return sqrt(@w**2 + @v.inner_product(@v))
+  end
+  alias magnitude norm
+
+  ##
+  # Returns inverse of +self+.
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q.inverse # => Quaternion(0.03333333333333333; Vector[-0.06666666666666667, -0.1, -0.13333333333333333])
+  def inverse
+    return (self.conjugate)/(self.norm**2)
+  end
+
+  ##
+  # Returns normailzed Quaternion
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q.normalize # => Quaternion(0.18257418583505536; Vector[0.3651483716701107, 0.5477225575051661, 0.7302967433402214])
+  def normalize
+    return self/self.magnitude
+  end
+
+  ##
+  # Destructive method of Quaternion#normalize
+  def normalize!
+    m = self.magnitude
+
+    @w /= m
+    @v /= m
+
+    return self
+  end
+
+  ##
+  # Returns string expression of self
+  #   q = Quaternion.new(1.0, 2.0, 3.0, 4.0)
+  #   q.inspect # => "Quaternion(1.0; Vector[2.0, 3.0, 4.0])"
+  def inspect
+    return "Quaternion(#{@w}; #{@v})"
+  end
+  alias to_s inspect
+end
+

data/lib/quaternion/numeric.rb

@@ -0,0 +1,24 @@
+
+class Float # :nodoc:
+  alias_method :multi_org, :*
+
+  def * other
+    if other.is_a?(Quaternion)
+      other*self
+    else
+      self.multi_org(other)
+    end
+  end
+end
+
+class Fixnum # :nodoc:
+  alias_method :multi_org, :*
+
+  def * other
+    if other.is_a?(Quaternion)
+      other*self
+    else
+      self.multi_org(other)
+    end
+  end
+end

data/lib/quaternion/version.rb

@@ -0,0 +1,3 @@
+class Quaternion
+  VERSION = "0.1.0" # :nodoc:
+end

data/quaternion.gemspec

@@ -0,0 +1,30 @@
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'quaternion/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = "quaternion"
+  spec.version       = Quaternion::VERSION
+  spec.authors       = ["Hiroyuki Tanaka"]
+  spec.email         = ["hryktnk@gmail.com"]
+
+  spec.summary       = %q{Quaternion class}
+  #spec.description   = %q{TODO: Write a longer description or delete this line.}
+  #spec.homepage      = "TODO: Put your gem's website or public repo URL here."
+  spec.license       = "MIT"
+
+  spec.files         = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features)/}) }
+  spec.bindir        = "exe"
+  spec.executables   = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
+  spec.require_paths = ["lib"]
+
+  #if spec.respond_to?(:metadata)
+  #  spec.metadata['allowed_push_host'] = "TODO: Set to 'http://mygemserver.com' to prevent pushes to rubygems.org, or delete to allow pushes to any server."
+  #end
+
+  spec.required_ruby_version = '>= 2.2.1'
+
+  spec.add_development_dependency "bundler", "~> 1.9"
+  spec.add_development_dependency "rake", "~> 10.0"
+  spec.add_development_dependency "minitest"
+end

metadata

@@ -0,0 +1,98 @@
+--- !ruby/object:Gem::Specification
+name: quaternion
+version: !ruby/object:Gem::Version
+  version: 0.1.0
+platform: ruby
+authors:
+- Hiroyuki Tanaka
+autorequire: 
+bindir: exe
+cert_chain: []
+date: 2015-04-05 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.9'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '1.9'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '10.0'
+- !ruby/object:Gem::Dependency
+  name: minitest
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+description: 
+email:
+- hryktnk@gmail.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- ".gitignore"
+- ".travis.yml"
+- Gemfile
+- LICENSE.txt
+- README.md
+- Rakefile
+- bin/console
+- bin/setup
+- lib/quaternion.rb
+- lib/quaternion/numeric.rb
+- lib/quaternion/version.rb
+- quaternion.gemspec
+homepage: 
+licenses:
+- MIT
+metadata: {}
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: 2.2.1
+required_rubygems_version: !ruby/object:Gem::Requirement
+  requirements:
+  - - ">="
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 2.4.6
+signing_key: 
+specification_version: 4
+summary: Quaternion class
+test_files: []