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Native quaternion implementation (#166)
This PR removes the dependency on boost::math::quaternion in favor of a minimal native implementation, which includes simple arithmetic and comparison operators, and conj, abs, norm and pow function implementations. The Quat object is serializeable and provides a numpy buffer interface. Closes #143.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| import numpy as np | ||
| from . import Quat, G3VectorQuat, G3TimestreamQuat | ||
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| __all__ = [] | ||
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| quat_types = (Quat, G3VectorQuat, G3TimestreamQuat) | ||
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| def quat_ufunc(self, ufunc, method, *inputs, **kwargs): | ||
| """Numpy ufunc interface for vectorized quaternion methods.""" | ||
| if ufunc.__name__ in ["isinf", "isnan", "isfinite"] and len(inputs) == 1: | ||
| v = getattr(ufunc, method)(np.asarray(inputs[0]), **kwargs) | ||
| if ufunc.__name__ == "isfinite": | ||
| return np.all(v, axis=-1) | ||
| return np.any(v, axis=-1) | ||
| if ufunc.__name__.startswith("logical"): | ||
| args = [] | ||
| for arg in inputs: | ||
| if isinstance(arg, quat_types): | ||
| arg = np.any(np.asarray(arg), axis=-1) | ||
| args.append(arg) | ||
| return getattr(ufunc, method)(*args, **kwargs) | ||
| if method != "__call__" or kwargs: | ||
| return NotImplemented | ||
| if len(inputs) == 1: | ||
| if ufunc.__name__ == "absolute": | ||
| return self.abs() | ||
| if ufunc.__name__ == "negative": | ||
| return self.__neg__() | ||
| if ufunc.__name__ == "conjugate": | ||
| return self.conj() | ||
| if ufunc.__name__ == "reciprocal": | ||
| return Quat(1, 0, 0, 0) / self | ||
| if len(inputs) == 2 and np.isscalar(inputs[1]): | ||
| if ufunc.__name__ == "power": | ||
| return self.__pow__(inputs[1]) | ||
| return NotImplemented | ||
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| Quat.__array_ufunc__ = quat_ufunc | ||
| G3VectorQuat.__array_ufunc__ = quat_ufunc | ||
| G3TimestreamQuat.__array_ufunc__ = quat_ufunc |
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