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Use sinc to fix RotationVec near zero #272

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merged 6 commits into from
Nov 12, 2023
Merged

Use sinc to fix RotationVec near zero #272

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eec7cb9
Use `sinc` to fix RotationVec near zero
timholy Oct 12, 2023
74d6959
Use new implementation only for small theta
timholy Oct 12, 2023
4330c72
Relax adjoint test to approxeq
timholy Oct 12, 2023
8dd986d
Fix test with `@test_broken`
hyrodium Oct 20, 2023
288b279
Update tests for `inv`, `adjoint`, and `transpose`
hyrodium Oct 20, 2023
6811364
Fix type instability
hyrodium Nov 10, 2023
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28 changes: 14 additions & 14 deletions src/angleaxis_types.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -172,24 +172,24 @@ function (::Type{RV})(aa::AngleAxis) where RV <: RotationVec
return RV(aa.theta * aa.axis_x, aa.theta * aa.axis_y, aa.theta * aa.axis_z)
end

function (::Type{Q})(rv::RotationVec) where Q <: QuatRotation
return QuatRotation(AngleAxis(rv))
end

(::Type{RV})(q::QuatRotation) where {RV <: RotationVec} = RV(AngleAxis(q))

function Base.:*(rv::RotationVec{T1}, v::StaticVector{3, T2}) where {T1,T2}
@inline function (::Type{Q})(rv::RotationVec) where Q <: QuatRotation
theta = rotation_angle(rv)
if (theta > eps(T1)) # use eps here because we have the 1st order series expansion defined
return AngleAxis(rv) * v
if theta < sqrt(eps(typeof(theta)))
ϕ = theta / π / 2
sc = sinc(ϕ) / 2 # this form gracefully handles theta = 0
qx, qy, qz = sc * rv.sx, sc * rv.sy, sc * rv.sz
return Q(cos(theta / 2), qx, qy, qz, false)
else
return similar_type(typeof(v), promote_type(T1,T2))(
v[1] + rv.sy * v[3] - rv.sz * v[2],
v[2] + rv.sz * v[1] - rv.sx * v[3],
v[3] + rv.sx * v[2] - rv.sy * v[1])
s, c = sincos(theta / 2)
sθ = s / theta
return Q(c, sθ * rv.sx, sθ * rv.sy, sθ * rv.sz, false)
end
end

(::Type{RV})(q::QuatRotation) where {RV <: RotationVec} = RV(AngleAxis(q))

Base.:*(rv::RotationVec, v::StaticVector{3}) = QuatRotation(rv) * v

@inline Base.:*(rv::RotationVec, r::Rotation) = QuatRotation(rv) * r
@inline Base.:*(rv::RotationVec, r::RotMatrix) = QuatRotation(rv) * r
@inline Base.:*(rv::RotationVec, r::MRP) = QuatRotation(rv) * r
Expand All @@ -203,7 +203,7 @@ end
@inline Base.inv(rv::RotationVec) = RotationVec(-rv.sx, -rv.sy, -rv.sz)

# rotation properties
@inline rotation_angle(rv::RotationVec) = sqrt(rv.sx * rv.sx + rv.sy * rv.sy + rv.sz * rv.sz)
@inline rotation_angle(rv::RotationVec) = hypot(rv.sx, rv.sy, rv.sz)
function rotation_axis(rv::RotationVec) # what should this return for theta = 0?
theta = rotation_angle(rv)
return (theta > 0 ? SVector(rv.sx / theta, rv.sy / theta, rv.sz / theta) : SVector(one(theta), zero(theta), zero(theta)))
Expand Down
14 changes: 14 additions & 0 deletions test/derivative_tests.jl
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Expand Up @@ -180,6 +180,20 @@ using ForwardDiff
@test FD_jac ≈ R_jac
end
end

@testset "RotationVec near zero" begin
rot(x) = RotationVec(x, 0, 0)
for i = 1:10
v = randn(SVector{3,Float64})
rotv(x) = rot(x)*v
drotv(x) = ForwardDiff.derivative(rotv, x)
# The following broken tests will be fixed by https://github.com/JuliaDiff/ForwardDiff.jl/pull/669
@test_broken drotv(0.0) ≈ [0, -v[3], v[2]]
@test drotv(1e-20) ≈ [0, -v[3], v[2]]
@test_broken ForwardDiff.derivative(drotv, 0.0) ≈ [0, -v[2], -v[3]]
@test ForwardDiff.derivative(drotv, 1e-20) ≈ [0, -v[2], -v[3]]
end
end
#=
# rotate a point by an MRP
@testset "Jacobian (MRP rotation)" begin
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19 changes: 17 additions & 2 deletions test/rotation_tests.jl
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Expand Up @@ -154,8 +154,7 @@ all_types = (RotMatrix3, RotMatrix{3}, AngleAxis, RotationVec,
r1 = rand(R)
r2 = rand(R)
v = @SVector rand(3)
@test inv(r1) == adjoint(r1)
@test inv(r1) == transpose(r1)
@test inv(r1) === adjoint(r1) === transpose(r1)
@test inv(r1)*r1 ≈ I
@test r1*inv(r1) ≈ I
@test r1/r1 ≈ I
Expand Down Expand Up @@ -334,9 +333,25 @@ all_types = (RotMatrix3, RotMatrix{3}, AngleAxis, RotationVec,
end
@test norm(rotation_axis(QuatRotation(1.0, 0.0, 0.0, 0.0))) ≈ 1.0


# TODO RotX, RotXY?
end

@testset "RotationVec->QuatRotation, especially near zero" begin
for i = 1:10
p = rand(RotationVec)
all(iszero, Rotations.params(p)) && continue
@test QuatRotation(p) ≈ QuatRotation(AngleAxis(p))
end

@test rotation_angle(RotationVec(0.0, 0.0, 0.0)) ≈ 0.0
@test rotation_axis(RotationVec(0.0, 0.0, 0.0)) ≈ [1.0, 0.0, 0.0]
@test QuatRotation(RotationVec(0.0, 0.0, 0.0)) == QuatRotation(1.0, 0.0, 0.0, 0.0)
qr = QuatRotation(RotationVec(2e-30, 0.0, 0.0))
@test qr.w ≈ 1
@test qr.x ≈ 1e-30
end

#########################################################################
# Check construction of QuatRotation given two vectors
#########################################################################
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