unit_quaternion 0.0.3 → 0.0.4

data/.gitignore

@@ -3,4 +3,5 @@
 other/*
 Gemfile.lock
 pkg/*
-coverage
+coverage
+doc

data/CHANGELOG

@@ -0,0 +1,2 @@
+Version 0.0.3: Initial release
+Version 0.0.4: Improve documentation

data/lib/quaternion.rb

@@ -39,51 +39,51 @@ class Quaternion
     return @beta0, @beta_s
   end
 
-  # Returns the magnitude of the quaternion
+  # Returns the magnitude of the quaternion.
   def norm
     return Math.sqrt(@beta0**2 + @beta_s.norm()**2)
   end
 
-  # Returns the conjugate of the quaternion
+  # Returns the conjugate of the quaternion.
   def conjugate
     return Quaternion.new(@beta0, *(-1*@beta_s))
   end
 
-  # Returns the multiplicative inverse of the quaterion
+  # Returns the multiplicative inverse of the quaterion.
   def inverse
     return self.conjugate() / self.norm() ** 2
   end
 
   # Returns a normalized quaternion.  q.normalized() is equivalent to
-  # q/q.norm()
+  # q/q.norm().
   def normalized
     return self / norm()
   end
 
-  # Returns the sum of two quaternions
+  # Returns the sum of two quaternions.
   def +(q)
     beta0, beta_s = q.get()
     return Quaternion.new(@beta0 + beta0, *(@beta_s + beta_s))
   end
 
-  # Returns the difference of two quaternions
+  # Returns the difference of two quaternions.
   def -(q)
     beta0, beta_s = q.get()
     return Quaternion.new(@beta0 - beta0, *(@beta_s - beta_s))
   end
 
-  # Returns the additive inverse of the quaternion
+  # Returns the additive inverse of the quaternion.
   def -@
     Quaternion.new(-@beta0, -@beta_s[0], -@beta_s[1], -@beta_s[2])
   end
 
-  # Returns the result of dividing the quaternion by a scalar
+  # Returns the result of dividing the quaternion by a scalar.
   def /(s)
     return Quaternion.new(@beta0 / s, *(@beta_s / s))
   end
 
   # Returns the result of multiplying the quaternion by a scalar or
-  # another quaternion
+  # another quaternion.
   def *(q)
     if q.is_a?(Numeric)
       return Quaternion.new(@beta0 * q, *(@beta_s * q))
@@ -98,7 +98,7 @@ class Quaternion
   end
 
   # Returns true if two quaternions are equal (meaning that their
-  # corresponding entries are equal to each other) and false otherwise
+  # corresponding entries are equal to each other) and false otherwise.
   def ==(q)
     if get() == q.get()
       return true
@@ -107,7 +107,7 @@ class Quaternion
     end
   end
 
-  # Returns the string representation of the quaternion
+  # Returns the string representation of the quaternion.
   def to_s
     return "(" + @beta0.to_s + ", " + @beta_s.to_s + ")"
   end
@@ -118,7 +118,7 @@ class Quaternion
 
   private
   def cross_product(v1, v2)
-    # returns the cross product of vectors v1 and v2
+    # returns the cross product of vectors v1 and v2.
     return Vector[ v1[1]*v2[2] - v1[2]*v2[1],
                    v1[2]*v2[0] - v1[0]*v2[2],
                    v1[0]*v2[1] - v1[1]*v2[0] ]

data/lib/unit_quaternion/version.rb

@@ -1,3 +1,3 @@
-module Quaternion
-  VERSION = "0.0.3"
+class UnitQuaternion
+  VERSION = "0.0.4"
 end

data/lib/unit_quaternion.rb

@@ -32,8 +32,6 @@ class UnitQuaternion < Quaternion
   # +angle+:: A scalar representing the angle of the rotation (in radians)
   # +axis+:: A vector representing the axis of rotation (need not be a unit vector)
   def self.fromAngleAxis(angle, axis)
-    # intializes a quaternion from the angle-axis representation of a
-    # rotation
     q = UnitQuaternion.new()
     q.setAngleAxis(angle, axis)
     return q
@@ -52,7 +50,7 @@ class UnitQuaternion < Quaternion
     return q
   end
 
-  # Initializes a quaternion from a rotation matrix
+  # Initializes a quaternion from a rotation matrix.
   # 
   # Params:
   # +mat+:: A 3x3 orthonormal matrix.
@@ -71,7 +69,6 @@ class UnitQuaternion < Quaternion
   # +y+:: the j-component
   # +z+:: the k-component
   def set(w, x, y, z)
-    # sets the values of the quaternion
     super(w, x, y, z)
     @beta0, @beta_s = normalized().get()
   end
@@ -84,8 +81,6 @@ class UnitQuaternion < Quaternion
   # +angle+:: A scalar representing the angle of the rotation (in radians)
   # +axis+:: A vector representing the axis of rotation (need not be a unit vector)
   def setAngleAxis(angle, axis)
-    # sets the quaternion based on the angle-axis representation of a
-    # rotation
     if axis == Vector[0,0,0]
       raise(ArgumentError, "Axis must not be the zero vector")
     end
@@ -107,8 +102,6 @@ class UnitQuaternion < Quaternion
   # +angle+:: A scalar representing the angle of rotation (in radians)
   # +axis+:: A unit vector representing the axis of rotation
   def getAngleAxis
-    # return the angle-axis representation of the rotation contained in
-    # this quaternion
     angle = 2*Math.acos(@beta0)
     
     # if sin(theta/2) = 0, then theta = 2*n*PI, where n is any integer,
@@ -166,14 +159,6 @@ class UnitQuaternion < Quaternion
   # +theta2+:: The angle of rotation about the second axis
   # +theta3+:: The angle of rotation about the third axis
   def getEuler(axes)
-    # Returns the Euler angles about the specified axes.  The axes should
-    # be specified as a string, and can be any permutation (with
-    # replacement) of 'X', 'Y', and 'Z', as long as no letter is adjacent
-    # to itself (for example, 'XYX' is valid, but 'XXY' is not).
-    # If the axes are uppercase, this function returns the angles about
-    # the global axes.  If they are lowercase, this function returns the
-    # angles about the body-fixed axes.
-    #
     # This method implements Shoemake's algorithm for finding the Euler
     # angles from a rotation matrix, found in Graphics Gems IV (pg. 222).
 
@@ -244,7 +229,7 @@ class UnitQuaternion < Quaternion
     return theta1, theta2, theta3
   end
 
-  # Sets the values of the quaternion from a rotation matrix
+  # Sets the values of the quaternion from a rotation matrix.
   # 
   # Params:
   # +mat+:: A 3x3 orthonormal matrix.
@@ -263,7 +248,6 @@ class UnitQuaternion < Quaternion
 
   # Returns the rotation matrix corresponding to this quaternion.
   def getRotationMatrix
-    # returns the rotation matrix corresponding to this quaternion
     return Matrix[ [ @beta0**2 + @beta_s[0]**2 - @beta_s[1]**2 - @beta_s[2]**2,
                      2*(@beta_s[0]*@beta_s[1] - @beta0*@beta_s[2]),
                      2*(@beta_s[0]*@beta_s[2] + @beta0*@beta_s[1]) ],
@@ -284,7 +268,7 @@ class UnitQuaternion < Quaternion
     return getRotationMatrix() * vec
   end
 
-  # Returns the inverse of the quaternion
+  # Returns the inverse of the quaternion.
   def inverse
     result = UnitQuaternion.new
     result.set(@beta0, *(-1*@beta_s))

data/unit_quaternion.gemspec

@@ -5,7 +5,7 @@ require 'unit_quaternion/version'
 
 Gem::Specification.new do |spec|
   spec.name          = "unit_quaternion"
-  spec.version       = Quaternion::VERSION
+  spec.version       = UnitQuaternion::VERSION
   spec.authors       = ["Cory Crean"]
   spec.email         = ["cory.crean@gmail.com"]
   spec.description   = %q{Provides a general Quaternion class, and UnitQuaternion class to represent rotations}

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: unit_quaternion
 version: !ruby/object:Gem::Version
-  version: 0.0.3
+  version: 0.0.4
   prerelease: 
 platform: ruby
 authors:
@@ -84,6 +84,7 @@ extensions: []
 extra_rdoc_files: []
 files:
 - .gitignore
+- CHANGELOG
 - Gemfile
 - LICENSE.txt
 - README.md