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andyferrisandyferris
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Merge pull request #61 from andyferris/ajf/remove-rotations
Remove Rotations.jl as a dependency
2 parents 6a332ff + 038bde4 commit 37b74a9

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‎Project.toml

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Original file line numberDiff line numberDiff line change
@@ -1,14 +1,13 @@
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name = "CoordinateTransformations"
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uuid = "150eb455-5306-5404-9cee-2592286d6298"
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version = "0.5.1"
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version = "0.6.0"
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[deps]
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Rotations = "6038ab10-8711-5258-84ad-4b1120ba62dc"
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StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
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LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
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[compat]
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Rotations = "0.10,0.11,0.12,0.13"
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StaticArrays = "0.11,0.12"
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julia = "1"
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‎src/CoordinateTransformations.jl

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@@ -3,13 +3,6 @@ module CoordinateTransformations
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using StaticArrays
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using LinearAlgebra
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6-
using Rotations
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export RotMatrix, Quat, SpQuat, AngleAxis, RodriguesVec,
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RotX, RotY, RotZ,
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RotXY, RotYX, RotZX, RotXZ, RotYZ, RotZY,
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RotXYX, RotYXY, RotZXZ, RotXZX, RotYZY, RotZYZ,
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RotXYZ, RotYXZ, RotZXY, RotXZY, RotYZX, RotZYX
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# Core methods
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export compose, ∘, transform_deriv, transform_deriv_params, recenter
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export Transformation, IdentityTransformation
@@ -34,9 +27,4 @@ include("coordinatesystems.jl")
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include("affine.jl")
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include("perspective.jl")
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# Deprecations
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export transform
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Base.@deprecate_binding AbstractTransformation Transformation
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Base.@deprecate transform(transformation::Transformation, x) transformation(x)
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end # module

‎test/affine.jl

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@@ -120,345 +120,4 @@ end
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@test expected.origin ≈ result.origin
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@test expected.direction ≈ result.direction
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end
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#=
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@testset "Rotation2D on Polar" begin
126-
p = Polar(2.0, 1.0)
127-
trans = Rotation2D(1.0)
128-
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# Inverse
130-
@test inv(trans) == Rotation2D(-1.0)
131-
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# Composition
133-
@test trans ∘ trans == Rotation2D(2.0)
134-
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# Transform
136-
@test trans(p) == Polar(2.0, 2.0)
137-
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# Transform derivative
139-
@test transform_deriv(trans, p) == [0 0; 0 1]
140-
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# Transform parameter derivative
142-
@test transform_deriv_params(trans, p) == [0; 1]
143-
end
144-
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@testset "Rotation2D" begin
146-
x = SVector(2.0, 0.0)
147-
x2 = CartesianFromPolar()(Polar(2.0, 1.0))
148-
trans = Rotation2D(1.0)
149-
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# Constructor
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@test trans.cos == cos(1.0)
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@test trans.sin == sin(1.0)
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# Inverse
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@test inv(trans) == Rotation2D(-1.0)
156-
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# Composition
158-
@test trans ∘ trans == Rotation2D(2.0)
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# Transform
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@test trans(x) ≈ x2
162-
@test SVector(trans(Tuple(x))) ≈ x2
163-
@test trans(collect(x)) ≈ collect(x2)
164-
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# Transform derivative
166-
x = SVector(2.0,1.0)
167-
x_gn = SVector(Dual(2.0, (1.0,0.0)), Dual(1.0, (0.0,1.0)))
168-
x2_gn = trans(x_gn)
169-
m_gn = @SMatrix [partials(x2_gn[1], 1) partials(x2_gn[1], 2);
170-
partials(x2_gn[2], 1) partials(x2_gn[2], 2) ]
171-
m = transform_deriv(trans, x)
172-
@test m ≈ m_gn
173-
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# Transform parameter derivative
175-
trans_gn = Rotation2D(Dual(1.0, (1.0)))
176-
x = SVector(2.0,1.0)
177-
x2_gn = trans_gn(x)
178-
m_gn = Mat(partials(x2_gn[1], 1), partials(x2_gn[2], 1))
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m = transform_deriv_params(trans, x)
180-
@test m ≈ m_gn
181-
end
182-
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@testset "Rotation (3D)" begin
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@testset "Rotation{Void} (rotation matrix parameterization)" begin
186-
θx = 0.1
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θy = 0.2
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θz = 0.3
189-
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sx = sin(θx)
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cx = cos(θx)
192-
sy = sin(θy)
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cy = cos(θy)
194-
sz = sin(θz)
195-
cz = cos(θz)
196-
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Rx = [ cx sx 0;
198-
-sx cx 0;
199-
0 0 1]
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Ry = [1 0 0 ;
202-
0 cy -sy;
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0 sy cy]
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Rz = [cx 0 -sx;
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0 1 0 ;
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sx 0 cx]
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R = Mat{3,3,Float64}(Rx*Ry*Rz)
210-
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x = SVector(1.0, 2.0, 3.0)
212-
trans = Rotation(R)
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@test inv(trans).matrix ≈ R'
215-
@test (trans ∘ trans).matrix ≈ R*R
216-
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y = trans(x)
218-
@test y == R * SVector(1.0, 2.0, 3.0)
219-
@test trans(Tuple(x)) == Tuple(R * SVector(1.0, 2.0, 3.0))
220-
@test trans(collect(x)) == R * SVector(1.0, 2.0, 3.0)
221-
222-
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x_gn = SVector(Dual(1.0,(1.,0.,0.)), Dual(2.0,(0.,1.,0.)), Dual(3.0,(0.,0.,1.)))
224-
y_gn = trans(x_gn)
225-
M_gn = Mat{3,3,Float64}(vcat(ntuple(i->[partials(y_gn[i], j) for j = 1:3].', 3)...))
226-
M = transform_deriv(trans, x)
227-
@test M ≈ M_gn
228-
229-
g11 = Dual(R[1,1],(1.,0.,0.,0.,0.,0.,0.,0.,0.))
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g12 = Dual(R[1,2],(0.,1.,0.,0.,0.,0.,0.,0.,0.))
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g13 = Dual(R[1,3],(0.,0.,1.,0.,0.,0.,0.,0.,0.))
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g21 = Dual(R[2,1],(0.,0.,0.,1.,0.,0.,0.,0.,0.))
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g22 = Dual(R[2,2],(0.,0.,0.,0.,1.,0.,0.,0.,0.))
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g23 = Dual(R[2,3],(0.,0.,0.,0.,0.,1.,0.,0.,0.))
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g31 = Dual(R[3,1],(0.,0.,0.,0.,0.,0.,1.,0.,0.))
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g32 = Dual(R[3,2],(0.,0.,0.,0.,0.,0.,0.,1.,0.))
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g33 = Dual(R[3,3],(0.,0.,0.,0.,0.,0.,0.,0.,1.))
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G = @SMatrix [g11 g12 g13;
240-
g21 g22 g23;
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g31 g32 g33 ]
242-
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trans_gn = Rotation(G)
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y_gn = trans_gn(x)
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246-
M_gn = Mat{3,9,Float64}(vcat(ntuple(i->[partials(y_gn[i], j) for j = 1:9].', 3)...))
247-
M = transform_deriv_params(trans, x)
248-
@test M ≈ M_gn
249-
end
250-
251-
@testset "Rotation{Quaternion} (quaternion parameterization)" begin
252-
v = [0.35, 0.45, 0.25, 0.15]
253-
v = v / vecnorm(v)
254-
q = Quaternion(v[1],v[2],v[3],v[4],true)
255-
256-
trans = Rotation(q)
257-
x = SVector(1.0, 2.0, 3.0)
258-
259-
@test inv(trans) ≈ Rotation(inv(Quaternion(v[1],v[2],v[3],v[4])))
260-
@test trans ∘ trans ≈ Rotation(trans.matrix * trans.matrix)
261-
262-
y = trans(x)
263-
@test y ≈ SVector(3.439024390243902,-1.1463414634146332,0.9268292682926829)
264-
265-
x_gn = SVector(Dual(1.0,(1.,0.,0.)), Dual(2.0,(0.,1.,0.)), Dual(3.0,(0.,0.,1.)))
266-
y_gn = trans(x_gn)
267-
M_gn = Mat{3,3,Float64}(vcat(ntuple(i->[partials(y_gn[i], j) for j = 1:3].', 3)...))
268-
M = transform_deriv(trans, x)
269-
@test M ≈ M_gn
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271-
v_gn = [Dual(v[1],(1.,0.,0.,0.)), Dual(v[2],(0.,1.,0.,0.)), Dual(v[3],(0.,0.,1.,0.)), Dual(v[4],(0.,0.,0.,1.))]
272-
q_gn = Quaternion(v_gn[1],v_gn[2],v_gn[3],v_gn[4],true)
273-
trans_gn = Rotation(q_gn)
274-
y_gn = trans_gn(x)
275-
M_gn = Mat{3,4,Float64}(vcat(ntuple(i->[partials(y_gn[i], j) for j = 1:4].', 3)...))
276-
M = transform_deriv_params(trans, x)
277-
# Project both to tangent plane of normalized quaternions (there seems to be a change in definition...)
278-
proj = Mat{4,4,Float64}(eye(4) - v*v')
279-
@test M*proj ≈ M_gn*proj
280-
end
281-
282-
@testset "Rotation{EulerAngles} (Euler angle parameterization)" begin
283-
θx = 0.1
284-
θy = 0.2
285-
θz = 0.3
286-
287-
trans = Rotation(EulerAngles(θx, θy, θz))
288-
x = SVector(1.0, 2.0, 3.0)
289-
290-
@test inv(trans) == Rotation(trans.matrix')
291-
@test trans ∘ trans == Rotation(trans.matrix * trans.matrix)
292-
293-
y = trans(x)
294-
@test y == SVector(0.9984766744283545,2.1054173473736495,2.92750100324502)
295-
296-
x_gn = SVector(Dual(1.0,(1.,0.,0.)), Dual(2.0,(0.,1.,0.)), Dual(3.0,(0.,0.,1.)))
297-
y_gn = trans(x_gn)
298-
M_gn = Mat{3,3,Float64}(vcat(ntuple(i->[partials(y_gn[i], j) for j = 1:3].', 3)...))
299-
M = transform_deriv(trans, x)
300-
@test M ≈ M_gn
301-
302-
# Parameter derivative not defined
303-
# TODO?
304-
end
305-
306-
@testset "RotationXY, RotationYZ and RotationZX" begin
307-
# RotationXY
308-
x = SVector(2.0, 0.0, 0.0)
309-
x2 = CartesianFromSpherical()(Spherical(2.0, 1.0, 0.0))
310-
trans = RotationXY(1.0)
311-
312-
# Constructor
313-
@test trans.cos == cos(1.0)
314-
@test trans.sin == sin(1.0)
315-
316-
# Inverse
317-
@test inv(trans) == RotationXY(-1.0)
318-
@test RotationYX(1.0) == RotationXY(-1.0)
319-
320-
# Composition
321-
@test trans ∘ trans == RotationXY(2.0)
322-
323-
# Transform
324-
@test trans(x) ≈ x2
325-
@test SVector(trans(Tuple(x))) ≈ x2
326-
@test SVector(trans(collect(x))) ≈ x2
327-
328-
# Transform derivative
329-
x = SVector(2.0,1.0,3.0)
330-
x_gn = SVector(Dual(2.0, (1.0,0.0,0.0)), Dual(1.0, (0.0,1.0,0.0)), Dual(3.0, (0.0,0.0,1.0)))
331-
x2_gn = trans(x_gn)
332-
m_gn = @SMatrix [partials(x2_gn[1], 1) partials(x2_gn[1], 2) partials(x2_gn[1], 3);
333-
partials(x2_gn[2], 1) partials(x2_gn[2], 2) partials(x2_gn[2], 3);
334-
partials(x2_gn[3], 1) partials(x2_gn[3], 2) partials(x2_gn[3], 3) ]
335-
m = transform_deriv(trans, x)
336-
@test m ≈ m_gn
337-
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# Transform parameter derivative
339-
trans_gn = RotationXY(Dual(1.0, (1.0)))
340-
x = SVector(2.0,1.0,3.0)
341-
x2_gn = trans_gn(x)
342-
m_gn = Mat(partials(x2_gn[1], 1), partials(x2_gn[2], 1), partials(x2_gn[3], 1))
343-
m = transform_deriv_params(trans, x)
344-
@test m ≈ m_gn
345-
346-
347-
# RotationYZ
348-
x = SVector(0.0, 2.0, 0.0)
349-
x2 = CartesianFromSpherical()(Spherical(2.0, pi/2, 1.0))
350-
trans = RotationYZ(1.0)
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# Constructor
353-
@test trans.cos == cos(1.0)
354-
@test trans.sin == sin(1.0)
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# Inverse
357-
@test inv(trans) == RotationYZ(-1.0)
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@test RotationZY(1.0) == RotationYZ(-1.0)
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# Composition
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@test trans ∘ trans == RotationYZ(2.0)
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363-
# Transform
364-
@test trans(x) ≈ x2
365-
@test SVector(trans(Tuple(x))) ≈ x2
366-
@test SVector(trans(collect(x))) ≈ x2
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# Transform derivative
369-
x = SVector(2.0,1.0,3.0)
370-
x_gn = SVector(Dual(2.0, (1.0,0.0,0.0)), Dual(1.0, (0.0,1.0,0.0)), Dual(3.0, (0.0,0.0,1.0)))
371-
x2_gn = trans(x_gn)
372-
m_gn = @SMatrix [partials(x2_gn[1], 1) partials(x2_gn[1], 2) partials(x2_gn[1], 3);
373-
partials(x2_gn[2], 1) partials(x2_gn[2], 2) partials(x2_gn[2], 3);
374-
partials(x2_gn[3], 1) partials(x2_gn[3], 2) partials(x2_gn[3], 3) ]
375-
m = transform_deriv(trans, x)
376-
@test m ≈ m_gn
377-
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# Transform parameter derivative
379-
trans_gn = RotationYZ(Dual(1.0, (1.0)))
380-
x = SVector(2.0,1.0,3.0)
381-
x2_gn = trans_gn(x)
382-
m_gn = Mat(partials(x2_gn[1], 1), partials(x2_gn[2], 1), partials(x2_gn[3], 1))
383-
m = transform_deriv_params(trans, x)
384-
@test m ≈ m_gn
385-
386-
387-
# RotationZX
388-
x = SVector(2.0, 0.0, 0.0)
389-
x2 = CartesianFromSpherical()(Spherical(2.0, 0.0, -1.0))
390-
trans = RotationZX(1.0)
391-
392-
# Constructor
393-
@test trans.cos == cos(1.0)
394-
@test trans.sin == sin(1.0)
395-
396-
# Inverse
397-
@test inv(trans) == RotationZX(-1.0)
398-
@test RotationXZ(1.0) == RotationZX(-1.0)
399-
400-
# Composition
401-
@test trans ∘ trans == RotationZX(2.0)
402-
403-
# Transform
404-
@test trans(x) ≈ x2
405-
@test SVector(trans(Tuple(x))) ≈ x2
406-
@test SVector(trans(collect(x))) ≈ x2
407-
408-
# Transform derivative
409-
x = SVector(2.0,1.0,3.0)
410-
x_gn = SVector(Dual(2.0, (1.0,0.0,0.0)), Dual(1.0, (0.0,1.0,0.0)), Dual(3.0, (0.0,0.0,1.0)))
411-
x2_gn = trans(x_gn)
412-
m_gn = @SMatrix [partials(x2_gn[1], 1) partials(x2_gn[1], 2) partials(x2_gn[1], 3);
413-
partials(x2_gn[2], 1) partials(x2_gn[2], 2) partials(x2_gn[2], 3);
414-
partials(x2_gn[3], 1) partials(x2_gn[3], 2) partials(x2_gn[3], 3) ]
415-
m = transform_deriv(trans, x)
416-
@test m ≈ m_gn
417-
418-
# Transform parameter derivative
419-
trans_gn = RotationZX(Dual(1.0, (1.0)))
420-
x = SVector(2.0,1.0,3.0)
421-
x2_gn = trans_gn(x)
422-
m_gn = Mat(partials(x2_gn[1], 1), partials(x2_gn[2], 1), partials(x2_gn[3], 1))
423-
m = transform_deriv_params(trans, x)
424-
@test m ≈ m_gn
425-
end
426-
427-
@testset "euler_rotation() and composed derivatives" begin
428-
x = SVector(2.0,1.0,3.0)
429-
trans = euler_rotation(0.1,0.2,0.3)
430-
x2 = SVector(2.730537054338937,0.8047190852558106,2.428290466296628)
431-
432-
#@test trans.t1.t1 == RotationXY(0.1)
433-
#@test trans.t1.t2 == RotationYZ(0.2)
434-
#@test trans.t2 == RotationZX(0.3)
435-
436-
@test inv(trans) ≈ RotationZX(-0.3) ∘ (RotationYZ(-0.2) ∘ RotationXY(-0.1))
437-
438-
@test trans(x) ≈ x2
439-
440-
# Transform derivative
441-
x = SVector(2.0,1.0,3.0)
442-
x_gn = SVector(Dual(2.0, (1.0,0.0,0.0)), Dual(1.0, (0.0,1.0,0.0)), Dual(3.0, (0.0,0.0,1.0)))
443-
x2_gn = trans(x_gn)
444-
m_gn = @SMatrix [partials(x2_gn[1], 1) partials(x2_gn[1], 2) partials(x2_gn[1], 3);
445-
partials(x2_gn[2], 1) partials(x2_gn[2], 2) partials(x2_gn[2], 3);
446-
partials(x2_gn[3], 1) partials(x2_gn[3], 2) partials(x2_gn[3], 3) ]
447-
m = transform_deriv(trans, x)
448-
@test m ≈ m_gn
449-
450-
# Transform parameter derivative
451-
452-
#trans_gn = euler_rotation(Dual(0.1, (1.0, 0.0, 0.0)), Dual(0.2, (0.0, 1.0, 0.0)), Dual(0.3, (0.0, 0.0, 1.0)))
453-
#x = SVector(2.0,1.0,3.0)
454-
#x2_gn = trans_gn(x)
455-
#m_gn = @SMatrix [partials(x2_gn[1], 1) partials(x2_gn[1], 2) partials(x2_gn[1], 3);
456-
# partials(x2_gn[2], 1) partials(x2_gn[2], 2) partials(x2_gn[2], 3);
457-
# partials(x2_gn[3], 1) partials(x2_gn[3], 2) partials(x2_gn[3], 3)]
458-
#m = transform_deriv_params(trans, x)
459-
#@test m ≈ m_gn
460-
461-
end
462-
end
463-
=#
464123
end

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