unit_quaternion 0.0.4 → 0.0.5

data/CHANGELOG

@@ -1,2 +1,3 @@
 Version 0.0.3: Initial release
-Version 0.0.4: Improve documentation
+Version 0.0.4: Improve documentation
+Version 0.0.5: Fix a bug in UnitQuaternion multiplication, where multiplying a UnitQuaternion by a Quaternion used to return a UnitQuaternion, but now returns a Quaternion

data/lib/quaternion.rb

@@ -88,11 +88,8 @@ class Quaternion
     if q.is_a?(Numeric)
       return Quaternion.new(@beta0 * q, *(@beta_s * q))
     elsif q.is_a?(Quaternion)
-      q_beta0, q_beta_s = q.get()
-      beta0 = @beta0 * q_beta0 - @beta_s.inner_product(q_beta_s)
-      beta_s =  @beta0 * q_beta_s + q_beta0 * @beta_s +
-        cross_product(@beta_s, q_beta_s)
-      result = self.class.new(beta0, *beta_s)
+      beta0, beta_s = quatMult(q)
+      result = Quaternion.new(beta0, *beta_s)
       return result
     end
   end
@@ -124,4 +121,14 @@ class Quaternion
                    v1[0]*v2[1] - v1[1]*v2[0] ]
   end
 
+  # Multiplies with another quaternion, and returns the resulting
+  # beta0 and beta_s values.
+  def quatMult(q)
+    q_beta0, q_beta_s = q.get()
+    beta0 = @beta0 * q_beta0 - @beta_s.inner_product(q_beta_s)
+    beta_s =  @beta0 * q_beta_s + q_beta0 * @beta_s +
+      cross_product(@beta_s, q_beta_s)
+    return beta0, beta_s
+  end
+
 end

data/lib/unit_quaternion.rb

@@ -275,6 +275,21 @@ class UnitQuaternion < Quaternion
     return result
   end
 
+  # Returns the result of multiplying the quaternin by a scalar or
+  # another quaternion.  If the result has magnitude 1, this method
+  # will return a UnitQuaternion.  Otherwise, it will return a
+  # quaternion.
+  def *(q)
+    if q.is_a?(Numeric) and q.abs() == 1
+        return UnitQuaternion.new(@beta0 * q, *(@beta_s * q))
+    elsif q.is_a?(UnitQuaternion)
+      beta0, beta_s = quatMult(q)
+      return UnitQuaternion.new(beta0, *beta_s)
+    else
+      return super(q)
+    end
+  end
+
   private
   def isRightHanded(axes)
     if axes.length() != 3

data/lib/unit_quaternion/version.rb

@@ -1,3 +1,3 @@
 class UnitQuaternion
-  VERSION = "0.0.4"
+  VERSION = "0.0.5"
 end

data/tests/tests_UnitQuaternion.rb

@@ -213,6 +213,44 @@ class TestUnitQuaternion < Test::Unit::TestCase
                         0, 1e-14)
       end
     end
+
+    q = UnitQuaternion.new(1,2,3,4)
+    result = q * 1
+    assert(result.is_a?(UnitQuaternion))
+    assert_in_delta( (q - result).norm(), 0, 1e-15 )
+
+    result = q * -1
+    assert(result.is_a?(UnitQuaternion))
+
+    result = 1 * q
+    assert(result.is_a?(UnitQuaternion))
+    assert_in_delta( (q - result).norm(), 0, 1e-15 )
+
+    result = -1 * q
+    assert(result.is_a?(UnitQuaternion))
+    
+    q2 = Quaternion.new(1,2,3,4)
+    result = q * q2
+    assert(result.is_a?(Quaternion))
+    assert(!result.is_a?(UnitQuaternion))
+
+    result = q2 * q
+    assert(result.is_a?(Quaternion))
+    assert(!result.is_a?(UnitQuaternion))
+
+    for i in 2..10
+      result = q * i
+      assert(result.is_a?(Quaternion))
+      assert(!result.is_a?(UnitQuaternion))
+      assert_in_delta(i * q.get()[0], result.get()[0], 1e-15)
+      assert_equal((i * q.get()[1] - result.get()[1]).norm(), 0, 1e-15)
+
+      result = i * q
+      assert(result.is_a?(Quaternion))
+      assert(!result.is_a?(UnitQuaternion))
+      assert_in_delta(i * q.get()[0], result.get()[0], 1e-15)
+      assert_equal((i * q.get()[1] - result.get()[1]).norm(), 0, 1e-15)
+    end
   end
 
   def test_transform

metadata

@@ -1,7 +1,7 @@
 --- !ruby/object:Gem::Specification
 name: unit_quaternion
 version: !ruby/object:Gem::Version
-  version: 0.0.4
+  version: 0.0.5
   prerelease: 
 platform: ruby
 authors:
@@ -9,7 +9,7 @@ authors:
 autorequire: 
 bindir: bin
 cert_chain: []
-date: 2016-07-03 00:00:00.000000000 Z
+date: 2016-07-09 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler