interp crashes

[bzinberg]

Update: This was actually caused by JuliaGeometry/Rotations.jl#198, and is fixed by #8.

Example:

import PoseComposition as PC
import Rotations
​
orn1 = Rotations.RotMatrix{3}([   0.9999999999999996  -6.842277657836019e-49   3.138284443744863e-81;
                               6.842277657836019e-49      0.9999999999999996  -9.173215705886437e-33;
                               3.138284443744863e-81   9.173215705886437e-33      0.9999999999999996])
orn2 = Rotations.RotMatrix{3}([0.9999999999999993                 0.0                 0.0;
                                              0.0  0.9999999999999993                 0.0;
                                              0.0                 0.0  0.9999999999999993])
PC.interp(PC.Pose([0, 0, 0], orn1), PC.Pose([0, 0, 0], orn2), 1/6)

On my laptop, this gives

Pose⟨pos=[0.0, 0.0, 0.0], orientation=(w=1.0, x=3.822173210786016e-33, y=-2.3408381773461e-97, z=2.8509490240983425e-49)⟩

On the EC2 instance here, it gives

ERROR: DimensionMismatch("No precise constructor for Rotations.Rotation{3, T} where T found. Length of input was 9.")

I should check in more detail that this error is really coming from NaNs. Assuming yes, then the fix is probably to replace this exact-equality check

PoseComposition.jl/src/PoseComposition.jl

Lines 296 to 300 in 4706396

	# TODO: Once https://github.com/JuliaGeometry/Rotations.jl/issues/126 is
	# fixed, this special case won't be necessary
	if t == 0 || q == one(UnitQuaternion) || q == -one(UnitQuaternion)
	return one(UnitQuaternion)
	end

with an approximate-equality check.