Latest Results
fix(rotation): test SO(3) directly and honour null components
Two inputs that denote no rotation were being answered with a plausible
rotation instead of null.
matrix_to_quat and rotation_geodesic_angle judged membership in SO(3) by
checking that Shepperd's method returned a unit quaternion. On its principal
branch that method reads only the trace and the antisymmetric part of the
matrix, so a trace-free symmetric perturbation is invisible to it:
[[1, 5, 0], [5, 1, 0], [0, 0, 1]] has determinant -24 and still yields the
identity quaternion, of unit norm. Both now go through is_rotation, which
tests m^T m = I with determinant +1.
Rows read the flat child's values but not its validity, so a null component
inside a valid row was read as the zero sitting under the null slot, turning
the quaternion [1, null, 0, 0] into a half turn about x. A row with any null
component is now null, as whole-row nulls and NaNs already were.alejandro-soto-franco:feat/rotation-expressions Latest Branches
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