Specialize show for QuatVec and Rotor (#44)

Update CI

.github/workflows/CI.yml

@@ -0,0 +1,75 @@
+name: CI
+on:
+  push:
+    branches:
+      - main
+    tags: ['*']
+  pull_request:
+concurrency:
+  # Skip intermediate builds: always.
+  # Cancel intermediate builds: only if it is a pull request build.
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: ${{ startsWith(github.ref, 'refs/pull/') }}
+jobs:
+  test:
+    name: Julia ${{ matrix.version }} - ${{ matrix.os }} - ${{ matrix.arch }} - ${{ github.event_name }}
+    runs-on: ${{ matrix.os }}
+    if: >-
+        !contains(github.ref, 'refs/tags/')
+        && !contains(github.event.head_commit.message, '[skip ci]')
+        && !contains(github.event.head_commit.message, '[skip tests]')
+    strategy:
+      fail-fast: false
+      matrix:
+        version:
+          - '1'
+        os:
+          - ubuntu-latest
+          - macOS-latest
+          - windows-latest
+        arch:
+          - x64
+        include:
+          - version: 'nightly'
+            os: ubuntu-latest
+            arch: x64
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: ${{ matrix.version }}
+          arch: ${{ matrix.arch }}
+          show-versioninfo: true
+      - uses: julia-actions/cache@v1
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-runtest@v1
+      - uses: julia-actions/julia-processcoverage@v1
+      - uses: codecov/codecov-action@v2
+        if: "matrix.version == '1' && matrix.os == 'ubuntu-latest'"
+        with:
+          files: lcov.info
+  docs:
+    name: Documentation
+    runs-on: ubuntu-latest
+    if: >-
+        !contains(github.event.head_commit.message, '[skip ci]')
+        && !contains(github.event.head_commit.message, '[skip docs]')
+    permissions:
+      contents: write
+      statuses: write
+    steps:
+      - uses: actions/checkout@v2
+      - uses: julia-actions/setup-julia@v1
+        with:
+          version: '1'
+      - uses: julia-actions/julia-buildpkg@v1
+      - uses: julia-actions/julia-docdeploy@v1
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          DOCUMENTER_KEY: ${{ secrets.DOCUMENTER_KEY }}
+      - run: |
+          julia --project=docs -e '
+            using Documenter: DocMeta, doctest
+            using Quaternionic
+            DocMeta.setdocmeta!(Quaternionic, :DocTestSetup, :(using Quaternionic); recursive=true)
+            doctest(Quaternionic)'

.github/workflows/register.yml

@@ -1,16 +1,16 @@
 name: Register Package
-
 on:
   workflow_dispatch:
     inputs:
       version:
-        description: Version to register or component to bump
+        description: Version to register or component to bump (major, minor, or patch)
         required: true
         default: "patch"
-
 jobs:
   register:
     runs-on: ubuntu-latest
+    permissions:
+        contents: write
     steps:
       - uses: julia-actions/RegisterAction@latest
         with:

docs/Project.toml

@@ -2,6 +2,7 @@
 Documenter = "e30172f5-a6a5-5a46-863b-614d45cd2de4"
 LaTeXStrings = "b964fa9f-0449-5b57-a5c2-d3ea65f4040f"
 Latexify = "23fbe1c1-3f47-55db-b15f-69d7ec21a316"
+LiveServer = "16fef848-5104-11e9-1b77-fb7a48bbb589"
 Quaternionic = "0756cd96-85bf-4b6f-a009-b5012ea7a443"
 Random = "9a3f8284-a2c9-5f02-9a11-845980a1fd5c"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"

docs/make.jl

@@ -24,4 +24,5 @@ makedocs(;
 deploydocs(;
     repo="github.com/moble/Quaternionic.jl",
     devbranch="main",
+    push_preview=true,
 )

scripts/docs.jl

@@ -0,0 +1,17 @@
+# Run this script from any directory as
+#
+#   julia -t 4 scripts/docs.jl
+#
+# The docs will build and the browser should open automatically.  `LiveServer`
+# will monitor the docs for any changes, then rebuild them and refresh the browser
+# until this script is stopped.
+
+import Dates
+println("Building docs starting at ", Dates.format(Dates.now(), "HH:MM:SS"), ".")
+
+using Pkg
+cd((@__DIR__) * "/..")
+Pkg.activate("docs")
+
+using LiveServer
+servedocs(launch_browser=true)

scripts/test.jl

@@ -0,0 +1,20 @@
+import Dates
+println("Running tests starting at ", Dates.format(Dates.now(), "HH:MM:SS"), ".")
+
+using Pkg
+cd((@__DIR__) * "/..")
+Pkg.activate(".")
+
+try
+    Δt = @elapsed Pkg.test("Quaternionic"; coverage=true, test_args=ARGS)
+    println("Running tests took $Δt seconds.")
+catch e
+    println("Tests failed; proceeding to coverage")
+end
+
+Pkg.activate()  # Activate Julia's base (home) directory
+using Coverage
+cd((@__DIR__) * "/..")
+coverage = Coverage.process_folder()
+Coverage.writefile("lcov.info", coverage)
+Coverage.clean_folder(".")

src/base.jl

@@ -112,13 +112,19 @@ function Base.show(io::IO, q::AbstractQuaternion)
     end
     print(
         io,
-        q[1],
+        q isa QuatVec ? "" : q[1],
         pm(q[2]), "𝐢",
         pm(q[3]), "𝐣",
         pm(q[4]), "𝐤"
     )
 end
 
+function Base.show(io::IO, q::Rotor)
+    print(io, "Rotor(")
+    invoke(Base.show, Tuple{IO, AbstractQuaternion}, io, q)
+    print(io, ")")
+end
+
 function Base.show(io::IO, ::MIME"text/latex", q::AbstractQuaternion)
     function pm(x)
         s = latexify(x, env=:raw, bracket=true)
@@ -133,7 +139,7 @@ function Base.show(io::IO, ::MIME"text/latex", q::AbstractQuaternion)
         s
     end
     s = latexstring(
-        latexify(q[1], env=:raw, bracket=true),
+        q isa QuatVec ? "" : latexify(q[1], env=:raw, bracket=true),
         pm(q[2]), "\\,\\mathbf{i}",
         pm(q[3]), "\\,\\mathbf{j}",
         pm(q[4]), "\\,\\mathbf{k}"

src/examples.jl

@@ -31,9 +31,9 @@ return the orientation as a `Rotor`, followed by the angular velocity as a
 julia> R, ω⃗, Ṙ = precessing_nutating_example();
 
 julia> R(12.34)
-0.9944579779058746 + 0.09804177421238346𝐢 - 0.00084850453525312𝐣 + 0.03795287510453948𝐤
+Rotor(0.9944579779058746 + 0.09804177421238346𝐢 - 0.00084850453525312𝐣 + 0.03795287510453948𝐤)
 julia> ω⃗(345.67)
-0.0 + 0.00046343007342867023𝐢 - 0.0007032818419003181𝐣 + 0.006214814810035088𝐤
+ + 0.00046343007342867023𝐢 - 0.0007032818419003181𝐣 + 0.006214814810035088𝐤
 julia> ϵ = 1e-6; (R(ϵ) - R(-ϵ)) / 2ϵ  # Approximate derivative at t=0
 -3.8491432263754177e-7 + (3.9080960689830135e-6)𝐢 - (6.861695854245619e-5)𝐣 + 0.003076329202503836𝐤
 julia> Ṙ(0)

src/interpolation.jl

@@ -66,10 +66,10 @@ julia> q = [imx, -imx, imx, -imx];
 
 julia> unflip(q)
 4-element Vector{QuatVec{Int64}}:
- 0 + 1𝐢 + 0𝐣 + 0𝐤
- 0 + 1𝐢 + 0𝐣 + 0𝐤
- 0 + 1𝐢 + 0𝐣 + 0𝐤
- 0 + 1𝐢 + 0𝐣 + 0𝐤
+  + 1𝐢 + 0𝐣 + 0𝐤
+  + 1𝐢 + 0𝐣 + 0𝐤
+  + 1𝐢 + 0𝐣 + 0𝐤
+  + 1𝐢 + 0𝐣 + 0𝐤
 ```
 """
 function unflip(q::AbstractArray{<:AbstractQuaternion}; dim::Integer=1)

src/math.jl

@@ -90,7 +90,7 @@ scalar part exactly 0.
 # Examples
 ```jldoctest
 julia> log(exp(1.2imy))
-0.0 + 0.0𝐢 + 1.2𝐣 + 0.0𝐤
+ + 0.0𝐢 + 1.2𝐣 + 0.0𝐤
 
 julia> log(Quaternion(exp(7)))
 7.0 + 0.0𝐢 + 0.0𝐣 + 0.0𝐤
@@ -135,7 +135,7 @@ Exponential of a quaternion
 # Examples
 ```jldoctest
 julia> exp(imx*π/4)  # Rotation through π/2 (note the extra 1/2) about the x axis
-0.7071067811865476 + 0.7071067811865475𝐢 + 0.0𝐣 + 0.0𝐤
+Rotor(0.7071067811865476 + 0.7071067811865475𝐢 + 0.0𝐣 + 0.0𝐤)
 ```
 """
 function Base.exp(q::Quaternion{T}) where {T}

src/quaternion.jl

@@ -102,15 +102,15 @@ function and get the desired result.
 
 ```jldoctest
 julia> Rotor(1, 2, 3, 4)
-0.18257418583505536 + 0.3651483716701107𝐢 + 0.5477225575051661𝐣 + 0.7302967433402214𝐤
+Rotor(0.18257418583505536 + 0.3651483716701107𝐢 + 0.5477225575051661𝐣 + 0.7302967433402214𝐤)
 julia> Rotor(Quaternion(1, 2, 3, 4))
-0.18257418583505536 + 0.3651483716701107𝐢 + 0.5477225575051661𝐣 + 0.7302967433402214𝐤
+Rotor(0.18257418583505536 + 0.3651483716701107𝐢 + 0.5477225575051661𝐣 + 0.7302967433402214𝐤)
 julia> Rotor{Float16}(1, 2, 3, 4)
-0.1826 + 0.3652𝐢 + 0.548𝐣 + 0.7305𝐤
+Rotor(0.1826 + 0.3652𝐢 + 0.548𝐣 + 0.7305𝐤)
 julia> Rotor(2, 3, 4)
-0.0 + 0.3713906763541037𝐢 + 0.5570860145311556𝐣 + 0.7427813527082074𝐤
+Rotor(0.0 + 0.3713906763541037𝐢 + 0.5570860145311556𝐣 + 0.7427813527082074𝐤)
 julia> Rotor(1)
-1 + 0𝐢 + 0𝐣 + 0𝐤
+Rotor(1 + 0𝐢 + 0𝐣 + 0𝐤)
 ```
 """
 struct Rotor{T<:Number} <: AbstractQuaternion{T}
@@ -145,13 +145,13 @@ always set to 0.
 
 ```jldoctest
 julia> QuatVec(1, 2, 3, 4)
-0 + 2𝐢 + 3𝐣 + 4𝐤
+ + 2𝐢 + 3𝐣 + 4𝐤
 julia> QuatVec(Quaternion(1, 2, 3, 4))
-0 + 2𝐢 + 3𝐣 + 4𝐤
+ + 2𝐢 + 3𝐣 + 4𝐤
 julia> QuatVec(2, 3, 4)
-0 + 2𝐢 + 3𝐣 + 4𝐤
+ + 2𝐢 + 3𝐣 + 4𝐤
 julia> QuatVec(1)
-0 + 0𝐢 + 0𝐣 + 0𝐤
+ + 0𝐢 + 0𝐣 + 0𝐤
 ```
 """
 struct QuatVec{T<:Number} <: AbstractQuaternion{T}
@@ -236,7 +236,7 @@ bold: `𝐢`.
 julia> imx * imx
 -1 + 0𝐢 + 0𝐣 + 0𝐤
 julia> 1.2imx
-0.0 + 1.2𝐢 + 0.0𝐣 + 0.0𝐤
+ + 1.2𝐢 + 0.0𝐣 + 0.0𝐤
 ```
 """
 const imx = QuatVec(false, true, false, false)
@@ -253,7 +253,7 @@ bold: `𝐣`.
 julia> imy * imy
 -1 + 0𝐢 + 0𝐣 + 0𝐤
 julia> 1.2imy
-0.0 + 0.0𝐢 + 1.2𝐣 + 0.0𝐤
+ + 0.0𝐢 + 1.2𝐣 + 0.0𝐤
 ```
 """
 const imy = QuatVec(false, false, true, false)
@@ -270,7 +270,7 @@ bold: `𝐤`.
 julia> imz * imz
 -1 + 0𝐢 + 0𝐣 + 0𝐤
 julia> 1.2imz
-0.0 + 0.0𝐢 + 0.0𝐣 + 1.2𝐤
+ + 0.0𝐢 + 0.0𝐣 + 1.2𝐤
 ```
 """
 const imz = QuatVec(false, false, false, true)

test/base.jl

@@ -240,6 +240,24 @@
         Base.show(io, MIME("text/latex"), Quaternion(a-b, b*c, c/d, d+e))
         @test String(take!(io)) == "\$a - b + b c\\,\\mathbf{i} + \\frac{c}{d}\\,\\mathbf{j} + \\left(d + e\\right)\\,\\mathbf{k}\$"
 
+        Base.show(io, MIME("text/plain"), QuatVec{Float64}(1, 2, 3, 4))
+        @test String(take!(io)) == " + 2.0𝐢 + 3.0𝐣 + 4.0𝐤"
+        Base.show(io, MIME("text/plain"), QuatVec{Int64}(1, 2, 3, 4))
+        @test String(take!(io)) == " + 2𝐢 + 3𝐣 + 4𝐤"
+        Base.show(io, MIME("text/plain"), QuatVec(a-b, b*c, c/d, d+e))
+        @test String(take!(io)) == " + b*c𝐢 + (c / d)𝐣 + (d + e)𝐤"
+        Base.show(io, MIME("text/latex"), QuatVec{Float64}(1, 2, 3, 4))
+        @test String(take!(io)) == "\$ + 2.0\\,\\mathbf{i} + 3.0\\,\\mathbf{j} + 4.0\\,\\mathbf{k}\$"
+        Base.show(io, MIME("text/latex"), QuatVec{Int64}(1, 2, 3, 4))
+        @test String(take!(io)) == "\$ + 2\\,\\mathbf{i} + 3\\,\\mathbf{j} + 4\\,\\mathbf{k}\$"
+        Base.show(io, MIME("text/latex"), QuatVec(a-b, b*c, c/d, d+e))
+        @test String(take!(io)) == "\$ + b c\\,\\mathbf{i} + \\frac{c}{d}\\,\\mathbf{j} + \\left(d + e\\right)\\,\\mathbf{k}\$"
+
+        Base.show(io, MIME("text/plain"), Rotor{Float64}(1, 5, 5, 7))
+        @test String(take!(io)) == "Rotor(0.1 + 0.5𝐢 + 0.5𝐣 + 0.7𝐤)"
+        Base.show(io, MIME("text/latex"), Rotor{Float64}(1, 3, 3, 9))
+        @test String(take!(io)) == "\$0.1 + 0.3\\,\\mathbf{i} + 0.3\\,\\mathbf{j} + 0.9\\,\\mathbf{k}\$"
+
         for T in PrimitiveTypes
             io = IOBuffer()
             q = Quaternion{T}(1, 2, 3, 4)