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Fix UnitQuaternion constructor with v keyword. #118

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Merged
merged 2 commits into from
Feb 23, 2024
Merged

Fix UnitQuaternion constructor with v keyword. #118

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517c43f
Add code+test to make sure using 4x1 vector with v keyword argument w…
myeatman-bdai Feb 21, 2024
11564a9
Propogate changes to "basic" quaternion as well
myeatman-bdai Feb 21, 2024
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8 changes: 8 additions & 0 deletions spatialmath/quaternion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,9 @@ def __init__(self, s: Any = None, v=None, check: Optional[bool] = True):
"""
super().__init__()

if s is None and smb.isvector(v, 4):
v,s = (s,v)

if v is None:
# single argument
if super().arghandler(s, check=False):
Expand Down Expand Up @@ -979,6 +982,11 @@ def __init__(
"""
super().__init__()

# handle: UnitQuaternion(v)`` constructs a unit quaternion with specified elements
# from ``v`` which is a 4-vector given as a list, tuple, or ndarray(4)
if s is None and smb.isvector(v, 4):
v,s = (s,v)

if v is None:
# single argument
if super().arghandler(s, check=check):
Expand Down
6 changes: 6 additions & 0 deletions tests/test_quaternion.py
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Expand Up @@ -70,6 +70,9 @@ def test_constructor(self):
qcompare(UnitQuaternion(2, [0, 0, 0]), np.r_[1, 0, 0, 0])
qcompare(UnitQuaternion(-2, [0, 0, 0]), np.r_[1, 0, 0, 0])

qcompare(UnitQuaternion([1, 2, 3, 4]), UnitQuaternion(v = [1, 2, 3, 4]))
qcompare(UnitQuaternion(s = 1, v = [2, 3, 4]), UnitQuaternion(v = [1, 2, 3, 4]))

# from R

qcompare(UnitQuaternion(np.eye(3)), [1, 0, 0, 0])
Expand Down Expand Up @@ -753,6 +756,9 @@ def test_constructor(self):
nt.assert_array_almost_equal(Quaternion(2, [0, 0, 0]).vec, [2, 0, 0, 0])
nt.assert_array_almost_equal(Quaternion(-2, [0, 0, 0]).vec, [-2, 0, 0, 0])

qcompare(Quaternion([1, 2, 3, 4]), Quaternion(v = [1, 2, 3, 4]))
qcompare(Quaternion(s = 1, v = [2, 3, 4]), Quaternion(v = [1, 2, 3, 4]))

# pure
v = [5, 6, 7]
nt.assert_array_almost_equal(
Expand Down