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Preserve general type for mixed dual-quaternion products - #295
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kaushikgunasekaren wants to merge 2 commits into
Open
kaushikgunasekaren wants to merge 2 commits into
kaushikgunasekaren wants to merge 2 commits into
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Add tests for DualQuaternion and UnitDualQuaternion product behavior.
kaushikgunasekaren
requested review from
petercorke and
taughz
as code owners
November 10, 2026 17:44
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UnitDualQuaternion * DualQuaternionchecked the left operand twice when deciding the product type. A general nonunit right operand therefore became aUnitDualQuaternion, while the opposite operand order correctly returnedDualQuaternion. This incorrectly exposes unit-only SE3/point-transform operations on a nonunit value.Check both operands. Quaternion coefficients and the both-unit/general-general paths are unchanged.
Validation: 10 regression/control cases covering both mixed orders across three poses, unit products against SE3 composition, and general products against the independent 8x8 matrix representation. Original code: 3 failed / 7 passed. Fixed full suite: 576 passed, 3 skipped, 99 subtests passed; 29 existing warnings. Untouched baseline: 566 passed with the same skips/subtests/warnings. Python 3.10, local CPU tests, no robot hardware. Black 23.10.0, fatal-flake8 selection on changed files, and git diff --check pass. Whole-tree fatal-flake8 also reports two existing undefined SMPose names in tests/test_dualquaternion.py, untouched here.
Separate from #225's conjugation/vector-transform fixes and #292's norm fix; this only changes mixed-product result classification.
AI assistance was used for investigation, implementation and tests. No hardware validation is claimed.