Shift most test from FiniteDiff to ForwardDiff

Project.toml

@@ -30,18 +30,20 @@ Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [compat]
 Colors = "<0.12.8, 0.12.8"
+CoordinateTransformations = "<0.6.2, 0.6.2"
 DocStringExtensions = "<0.8.6, 0.8.6"
-FFMPEG = "0.4.1"
-GeometryBasics = "<0.4.0, 0.4.0"
+FFMPEG = "0.4.0, 0.4.1"
+FiniteDiff = "2.0, 2.11"
+GeometryBasics = "<0.4.2, 0.4.2"
 Graphs = "1.5, 1.6"
 JLD2 = "<0.4.22, 0.4.22"
-LaTeXStrings = "1.3"
+LaTeXStrings = "1.3, 1.3"
 LightXML = "<0.9.0, 0.9.0"
-MeshCat = "<0.14.0, 0.14.0"
+MeshCat = "<0.14.2, 0.14.2"
 Meshing = "<0.5.7, 0.5.7"
-Parameters = "<0.12.0, 0.12.0"
-Polyhedra = "<0.7.1, 0.7.1"
-Quaternions = "0.5.2"
-Scratch = "1.1"
-StaticArrays = "1.4"
-julia = "1.7"
+Parameters = "<0.12.3, 0.12.3"
+Polyhedra = "<0.7.3, 0.7.3"
+Quaternions = "0.5.2, 0.5.3"
+Scratch = "1.1, 1.1"
+StaticArrays = "1.2, 1.4"
+julia = "1.6, 1.7"

src/integrators/integrator.jl

@@ -11,8 +11,8 @@ current_configuration_velocity(state::State) = (current_position(state), state.v
 initial_configuration_velocity(state::State) = (current_position(state), state.v15, current_orientation(state), state.ϕ15)
 
 # next
-next_position(x2::SVector{3,T}, v25::SVector{3,T}, timestep::T) where T = x2 + v25 * timestep
-next_orientation(q2::Quaternion{T}, ϕ25::SVector{3,T}, timestep::T) where T = q2 * quaternion_map(ϕ25, timestep) * timestep / 2
+next_position(x2::SVector{3}, v25::SVector{3}, timestep::Real) = x2 + v25 * timestep
+next_orientation(q2::Quaternion, ϕ25::SVector{3}, timestep::Real) = q2 * quaternion_map(ϕ25, timestep) * timestep / 2
 next_position(state::State, timestep) = next_position(state.x2, state.vsol[2], timestep)
 next_orientation(state::State, timestep) = next_orientation(state.q2, state.ϕsol[2], timestep)
 next_configuration(state::State, timestep) = (next_position(state, timestep), next_orientation(state, timestep))
@@ -32,13 +32,13 @@ function ∂angular_velocity∂q2(q1::Quaternion, q2::Quaternion, timestep)
 end
 
 # Jacobians
-function integrator_jacobian_velocity(x2::AbstractVector{T}, v25::AbstractVector{T}, q2::Quaternion{T}, ϕ25::SVector{3,T}, timestep::T) where T
+function integrator_jacobian_velocity(x2::AbstractVector, v25::AbstractVector, q2::Quaternion, ϕ25::SVector{3}, timestep::T) where T
     V = [linear_integrator_jacobian_velocity(x2, v25, timestep) szeros(T,3,3)]
     Ω = [szeros(T,4,3) rotational_integrator_jacobian_velocity(q2, ϕ25, timestep)]
     return [V; Ω] # 7x6
 end
 
-function integrator_jacobian_configuration(x2::AbstractVector{T}, v25::AbstractVector{T}, q2::Quaternion{T}, ϕ25::SVector{3,T}, timestep::T; 
+function integrator_jacobian_configuration(x2::AbstractVector, v25::AbstractVector, q2::Quaternion, ϕ25::SVector{3}, timestep::T; 
     attjac::Bool=true) where T
 
     Z = attjac ? szeros(T,3,3) : szeros(T,3,4)
@@ -47,22 +47,22 @@ function integrator_jacobian_configuration(x2::AbstractVector{T}, v25::AbstractV
     return [X; Q] # 7x6 or 7x7
 end
 
-function linear_integrator_jacobian_position(x2::AbstractVector{T}, v2::AbstractVector{T}, timestep::T) where T
+function linear_integrator_jacobian_position(x2::AbstractVector, v2::AbstractVector, timestep::T) where T
     return SMatrix{3,3,T,9}(Diagonal(sones(T, 3)))
 end
 
-function linear_integrator_jacobian_velocity(x2::AbstractVector{T}, v2::AbstractVector{T}, timestep::T) where T
+function linear_integrator_jacobian_velocity(x2::AbstractVector, v2::AbstractVector, timestep::T) where T
     return timestep * SMatrix{3,3,T,9}(Diagonal(sones(T,3)))
 end
 
-function rotational_integrator_jacobian_orientation(q2::Quaternion{T}, ϕ25::SVector{3,T}, timestep::T; 
-    attjac::Bool = true) where T
+function rotational_integrator_jacobian_orientation(q2::Quaternion, ϕ25::SVector{3}, timestep::Real; 
+    attjac::Bool = true)
     M = Rmat(quaternion_map(ϕ25, timestep) * timestep / 2)
     attjac && (M *= LVᵀmat(q2))
     return M
 end
 
-function rotational_integrator_jacobian_velocity(q2::Quaternion{T}, ϕ25::SVector{3,T}, timestep::T) where T
+function rotational_integrator_jacobian_velocity(q2::Quaternion, ϕ25::SVector{3}, timestep::Real)
     return Lmat(q2) * quaternion_map_jacobian(ϕ25, timestep) * timestep / 2
 end
 

src/joints/rotational/minimal.jl

@@ -10,9 +10,9 @@ function displacement(joint::Rotational,
     vmat ? (return Vmat(q)) : (return q)
 end
 
-function displacement_jacobian_configuration(relative::Symbol, joint::Rotational,
-        xa::AbstractVector{T}, qa::Quaternion,
-        xb::AbstractVector{T}, qb::Quaternion;
+function displacement_jacobian_configuration(relative::Symbol, joint::Rotational{T},
+        xa::AbstractVector, qa::Quaternion,
+        xb::AbstractVector, qb::Quaternion;
         attjac::Bool=true, vmat=true) where T
     X = szeros(T, 3, 3)
     if relative == :parent

src/mechanism/state.jl

@@ -6,7 +6,7 @@
 	mechanism: Mechanism 
 	y: minimal state
 """
-function minimal_to_maximal(mechanism::Mechanism{T,Nn,Ne,Nb,Ni}, y::AbstractVector{Tx}) where {T,Nn,Ne,Nb,Ni,Tx}
+function minimal_to_maximal(mechanism::Mechanism{T,Nn,Ne,Nb,Ni}, y::AbstractVector) where {T,Nn,Ne,Nb,Ni}
 	off = 0
 	for id in mechanism.root_to_leaves
 		(id > Ne) && continue # only treat joints