Merge pull request #235 from JuliaRobotics/23Q3/fix/legacy_SO3_tuple

Suport SO3 convert to tuple
JuliaRobotics · Jul 21, 2023 · 60919b3 · 60919b3
2 parents 83c44a5 + a9abf10
commit 60919b3
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/src/Legacy.jl b/src/Legacy.jl
@@ -66,13 +66,15 @@ Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Euclid3)}) = (:Euclid,:Euclid,:Eu
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Euclid4)}) = (:Euclid,:Euclid,:Euclid,:Euclid)
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(SE2_Manifold)}) = (:Euclid,:Euclid,:Circular)
 Base.convert(::Type{<:Tuple}, ::Type{<: typeof(SE3_Manifold)}) = (:Euclid,:Euclid,:Euclid,:Circular,:Circular,:Circular)
+Base.convert(::Type{<:Tuple}, ::Type{<: typeof(Manifolds.SpecialOrthogonal(3))}) = (:Circular,:Circular,:Circular)
 
 Base.convert(::Type{<:Tuple}, ::typeof(Euclid)) = (:Euclid,)
 Base.convert(::Type{<:Tuple}, ::typeof(Euclid2)) = (:Euclid,:Euclid)
 Base.convert(::Type{<:Tuple}, ::typeof(Euclid3)) = (:Euclid,:Euclid,:Euclid)
 Base.convert(::Type{<:Tuple}, ::typeof(Euclid4)) = (:Euclid,:Euclid,:Euclid,:Euclid)
 Base.convert(::Type{<:Tuple}, ::typeof(SE2_Manifold)) = (:Euclid,:Euclid,:Circular)
 Base.convert(::Type{<:Tuple}, ::typeof(SE3_Manifold)) = (:Euclid,:Euclid,:Euclid,:Circular,:Circular,:Circular)
+Base.convert(::Type{<:Tuple}, ::typeof(Manifolds.SpecialOrthogonal(3))) = (:Circular,:Circular,:Circular)
 
 """
     $(SIGNATURES)