Merge pull request #18 from dehann/hotfix/tracetotr

need trace as tr for jl 1.0
dehann · Oct 5, 2018 · e5c1100 · e5c1100
2 parents b6b4f47 + 3895664
commit e5c1100
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/src/TransformUtils.jl b/src/TransformUtils.jl
@@ -597,8 +597,8 @@ end
 
 function logmap(grp::SO3)
   R = grp.R
-  tr = trace(R)
-  if abs(tr+1.0) < 1e-10
+  tra = LinearAlgebra.tr(R)
+  if abs(tra+1.0) < 1e-10
     if abs(R[3,3]+1.0) > 1e-10
       ret = (pi / sqrt(2.0+2.0*R[3,3] )) * [R[1,3]; R[2,3]; (1.0+R[3,3])]
     else
@@ -609,9 +609,9 @@ function logmap(grp::SO3)
       end
     end
   else
-    tr_3 = tr-3.0
+    tr_3 = tra-3.0
     if (tr_3<-1e-7)
-      theta = acos((tr-1.0)/2.0)
+      theta = acos((tra-1.0)/2.0)
       magnitude = theta/(2.0*sin(theta))
     else
       magnitude = 0.5 - tr_3*tr_3/12.0

diff --git a/test/testInPlaceConvert.jl b/test/testInPlaceConvert.jl
@@ -1,7 +1,7 @@
 # profile/test conversion utils
 
 using TransformUtils
-using Base.Test
+using Test
 using BenchmarkTools, ProfileView
 
 R = SO3(0)