Updates the names used to access fields of QuatRotation

Author: ferrolho

src/joint_types/quaternion_floating.jl

@@ -34,10 +34,10 @@ end
 @propagate_inbounds function set_rotation!(q::AbstractVector, jt::QuaternionFloating, rot::Rotation{3})
     T = eltype(rot)
     quat = convert(QuatRotation{T}, rot)
-    q[1] = quat.w
-    q[2] = quat.x
-    q[3] = quat.y
-    q[4] = quat.z
+    q[1] = quat.q.s
+    q[2] = quat.q.v1
+    q[3] = quat.q.v2
+    q[4] = quat.q.v3
     nothing
 end
 

src/joint_types/quaternion_spherical.jl

@@ -30,10 +30,10 @@ end
 @propagate_inbounds function set_rotation!(q::AbstractVector, jt::QuaternionSpherical, rot::Rotation{3})
     T = eltype(rot)
     quat = convert(QuatRotation{T}, rot)
-    q[1] = quat.w
-    q[2] = quat.x
-    q[3] = quat.y
-    q[4] = quat.z
+    q[1] = quat.q.s
+    q[2] = quat.q.v1
+    q[3] = quat.q.v2
+    q[4] = quat.q.v3
     nothing
 end
 

src/spatial/util.jl

@@ -126,10 +126,10 @@ function angular_velocity_in_body end
 
 @inline function velocity_jacobian(::typeof(quaternion_derivative), q::QuatRotation)
     (@SMatrix [
-        -q.x -q.y -q.z;
-        q.w -q.z  q.y;
-        q.z  q.w -q.x;
-        -q.y  q.x  q.w]) / 2
+        -q.q.v1 -q.q.v2 -q.q.v3;
+         q.q.s  -q.q.v3  q.q.v2;
+         q.q.v3  q.q.s  -q.q.v1;
+        -q.q.v2  q.q.v1  q.q.s ]) / 2
 end
 
 @inline function velocity_jacobian(::typeof(spquat_derivative), q::ModifiedRodriguesParam)
@@ -141,9 +141,9 @@ end
 
 @inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::QuatRotation)
     2 * @SMatrix [
-    -q.x  q.w  q.z -q.y;
-    -q.y -q.z  q.w  q.x;
-    -q.z  q.y -q.x  q.w]
+    -q.q.v1  q.q.s   q.q.v3 -q.q.v2;
+    -q.q.v2 -q.q.v3  q.q.s   q.q.v1;
+    -q.q.v3  q.q.v2 -q.q.v1  q.q.s ]
 end
 
 @inline function velocity_jacobian(::typeof(angular_velocity_in_body), q::ModifiedRodriguesParam)

src/util.jl

@@ -44,7 +44,7 @@ end
 ## VectorSegment: type of a view of a vector
 const VectorSegment{T} = SubArray{T,1,Array{T, 1},Tuple{UnitRange{Int64}},true} # TODO: a bit too specific
 
-quatnorm(quat::QuatRotation) = sqrt(quat.w^2 + quat.x^2 + quat.y^2 + quat.z^2)
+quatnorm(quat::QuatRotation) = sqrt(quat.q.s^2 + quat.q.v1^2 + quat.q.v2^2 + quat.q.v3^2)
 
 
 ## Modification count stuff

test/test_mechanism_algorithms.jl

@@ -906,7 +906,7 @@ end
                 rot_orig = rotation(joint_type_k, q_orig)
                 rot_prin = rotation(joint_type_k, q_prin)
                 @test isapprox(rot_orig, rot_prin)
-                @test rot_prin.w > 0
+                @test rot_prin.q.s > 0
             else
                 @test q_orig == q_prin
             end