You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
Unit<Quaternion>::ln and Quaternion::ln differ, which is unexpected. Quaternion::ln seems to be correct and it is consistent with Quaternion::exp, at least on data I encountered.
[dependencies]
nalgebra = "0.32.3"
#[test]
fn quaternion_2() {
let p = UnitQuaternion::from_scaled_axis(Vector3::new(1., 2., 3.));
let q = p.into_inner();
assert!((q.ln().exp() - q).norm() < 1e-9); // OK - Quaternion<f64>::ln
assert!((p.ln().exp() - q).norm() < 1e-9); // fails - Unit<Quaternion<f64>>::ln
}
The text was updated successfully, but these errors were encountered:
Seems like UnitQuaternion implemetation expects ln to return scaled_axis instead of returning half of it, contrary to correct statement in the doccomment of the function itself (UnitQuaternion::ln): "The vector part of the return value corresponds to the axis-angle representation (divided by 2.0) of this unit quaternion".
Unit<Quaternion>::ln and Quaternion::ln differ, which is unexpected. Quaternion::ln seems to be correct and it is consistent with Quaternion::exp, at least on data I encountered.
The text was updated successfully, but these errors were encountered: