fix bounds error reporting (#250)

* fix bounds error reporting

and add tests

* Update test/unitquat.jl

Co-authored-by: Yuto Horikawa <[email protected]>

Co-authored-by: Yuto Horikawa <[email protected]>

Author: sjkelly

src/core_types.jl

@@ -216,7 +216,8 @@ function isrotation(r::StaticMatrix{N,N,T}, tol::Real = 1000 * _isrotation_eps(e
 end
 
 function isrotation(r::AbstractMatrix{T}, tol::Real = 1000 * _isrotation_eps(eltype(T))) where T<:Real
-    if !=(size(r)...)
+    s = size(r)
+    if s[1] != s[2]
         return false
     end
     d = norm(r*r'-one(r))

src/unitquaternion.jl

@@ -173,7 +173,7 @@ function Base.getindex(q::QuatRotation, i::Int)
 
         ww - xx - yy + zz
     else
-        throw(BoundsError(r,i))
+        throw(BoundsError(q,i))
     end
 end
 

test/unitquat.jl

@@ -17,6 +17,13 @@ import Rotations: vmat, rmult, lmult, hmat, tmat
     @test QuatRotation(1, 0, 0, 0) isa QuatRotation{Float64}
     @test QuatRotation(1.0f0, 0, 0, 0) isa QuatRotation{Float32}
 
+    # indexing
+    qi = QuatRotation(1, 0, 0, 0)
+    @test qi[1] == 1.0
+    @test qi[6] == 0.0
+    @test qi[5] == 1.0
+    @test_throws BoundsError qi[10]
+
     q = normalize(@SVector rand(4))
     q32 = SVector{4,Float32}(q)
     @test QuatRotation(q) isa QuatRotation{Float64}