From 51f96b43445bc8eb77a2e78dea83aa06a14ae44a Mon Sep 17 00:00:00 2001
From: Brandon Runnels <brunnels@uccs.edu>
Date: Mon, 27 Nov 2023 11:13:10 -0600
Subject: [PATCH] Added optional tolerance argument so exceptions don't get
 thrown when working with non-double-precision inputs.

---
 .gitignore                 |  3 ++-
 py/python.cpp              |  6 +++---
 src/Utils/wieldRotations.h | 24 ++++++++++++------------
 3 files changed, 17 insertions(+), 16 deletions(-)

diff --git a/.gitignore b/.gitignore
index 85111a6..43b3ab9 100644
--- a/.gitignore
+++ b/.gitignore
@@ -24,4 +24,5 @@ results
 run.stdout
 run.error
 .vscode
-wield.code-workspace
\ No newline at end of file
+wield.code-workspace
+doc
diff --git a/py/python.cpp b/py/python.cpp
index e6c62a3..e4bdafc 100644
--- a/py/python.cpp
+++ b/py/python.cpp
@@ -185,9 +185,9 @@ PYBIND11_MODULE(wield,m) {
 	m.def("createMatrixFromYAngle",&createMatrixFromYAngle,"Generate rotation matrix about y axis");
 	m.def("createMatrixFromZAngle",&createMatrixFromZAngle,"Generate rotation matrix about z axis");
 	m.def("createMatrixFromAngle",&createMatrixFromAngle,"Generate rotation matrix about x, y, or z axis");
-	m.def("createMatrixFromXY",&createMatrixFromXY,"Generate rotation matrix from x axis and y axis");
-	m.def("createMatrixFromYZ",&createMatrixFromYZ,"Generate rotation matrix from y axis and z axis");
-	m.def("createMatrixFromZX",&createMatrixFromZX,"Generate rotation matrix from z axis and x axis");
+	m.def("createMatrixFromXY",&createMatrixFromXY,"Generate rotation matrix from x axis and y axis",pybind11::arg("ex"),pybind11::arg("ey"),pybind11::arg("tolerance")=1E-8);
+	m.def("createMatrixFromYZ",&createMatrixFromYZ,"Generate rotation matrix from y axis and z axis",pybind11::arg("ey"),pybind11::arg("ez"),pybind11::arg("tolerance")=1E-8);
+	m.def("createMatrixFromZX",&createMatrixFromZX,"Generate rotation matrix from z axis and x axis",pybind11::arg("ez"),pybind11::arg("ex"),pybind11::arg("tolerance")=1E-8);
 	m.def("createMatrixFromNormalVector",&createMatrixFromNormalVector,"Generate rotation matrix from normal vector");
 	m.def("createMatrixFromBungeEulerAngles",&createMatrixFromBungeEulerAngles,"Generate rotation matrix from Bunge Euler Angles");
 	m.def("createMatrixFromAxisAngle",&createMatrixFromAxisAngle,"Generate rotation matrix from axis-angle pair");
diff --git a/src/Utils/wieldRotations.h b/src/Utils/wieldRotations.h
index 27de7cc..d277ec8 100644
--- a/src/Utils/wieldRotations.h
+++ b/src/Utils/wieldRotations.h
@@ -39,13 +39,13 @@ Eigen::Matrix3d createMatrixFromAngle(double theta, char axis)
   if (axis=='z' || axis=='Z') return createMatrixFromZAngle(theta);
   else return Eigen::Matrix3d::Identity();
 }
-Eigen::Matrix3d createMatrixFromXY(Eigen::Vector3d ex, Eigen::Vector3d ey)
+Eigen::Matrix3d createMatrixFromXY(Eigen::Vector3d ex, Eigen::Vector3d ey, double tolerance=1E-8)
 {
   WIELD_EXCEPTION_TRY;
-  if (fabs(ex.dot(ey)) > 1E-8)
+  if (fabs(ex.dot(ey)) > tolerance)
     WIELD_EXCEPTION_NEW("ex not orthogonal to ey: ex=[" << ex.transpose() << "]; ey=[" << ey.transpose()<<"]");
-  if (ex.norm() < 1E-8) WIELD_EXCEPTION_NEW("ex is a zero vector");
-  if (ey.norm() < 1E-8) WIELD_EXCEPTION_NEW("ey is a zero vector");
+  if (ex.norm() < tolerance) WIELD_EXCEPTION_NEW("ex is a zero vector");
+  if (ey.norm() < tolerance) WIELD_EXCEPTION_NEW("ey is a zero vector");
   Eigen::Vector3d ez = ex.cross(ey);
   Eigen::Matrix3d Omega;
   Omega.col(0) = ex / ex.norm();
@@ -55,13 +55,13 @@ Eigen::Matrix3d createMatrixFromXY(Eigen::Vector3d ex, Eigen::Vector3d ey)
   WIELD_EXCEPTION_CATCH;
 }
 
-Eigen::Matrix3d createMatrixFromYZ(Eigen::Vector3d ey, Eigen::Vector3d ez)
+Eigen::Matrix3d createMatrixFromYZ(Eigen::Vector3d ey, Eigen::Vector3d ez, double tolerance=1E-8)
 {
   WIELD_EXCEPTION_TRY;
-  if (fabs(ey.dot(ez)) > 1E-8)
+  if (fabs(ey.dot(ez)) > tolerance)
     WIELD_EXCEPTION_NEW("ey not orthogonal to ez: ey=[" << ey.transpose() << "]; ez=[" << ez.transpose()<<"]");
-  if (ey.norm() < 1E-8) WIELD_EXCEPTION_NEW("ey is a zero vector");
-  if (ez.norm() < 1E-8) WIELD_EXCEPTION_NEW("ez is a zero vector");
+  if (ey.norm() < tolerance) WIELD_EXCEPTION_NEW("ey is a zero vector");
+  if (ez.norm() < tolerance) WIELD_EXCEPTION_NEW("ez is a zero vector");
   Eigen::Vector3d ex = ey.cross(ez);
   Eigen::Matrix3d Omega;
   Omega.col(0) = ex / ex.norm();
@@ -71,13 +71,13 @@ Eigen::Matrix3d createMatrixFromYZ(Eigen::Vector3d ey, Eigen::Vector3d ez)
   WIELD_EXCEPTION_CATCH;
 }
 
-Eigen::Matrix3d createMatrixFromZX(Eigen::Vector3d ez, Eigen::Vector3d ex)
+Eigen::Matrix3d createMatrixFromZX(Eigen::Vector3d ez, Eigen::Vector3d ex, double tolerance=1E-8)
 {
   WIELD_EXCEPTION_TRY;
-  if (fabs(ez.dot(ex)) > 1E-8)
+  if (fabs(ez.dot(ex)) > tolerance)
     WIELD_EXCEPTION_NEW("ez not orthogonal to ex: ez=[" << ez.transpose() << "]; ex=[" << ex.transpose()<<"]");
-  if (ez.norm() < 1E-8) WIELD_EXCEPTION_NEW("ez is a zero vector");
-  if (ex.norm() < 1E-8) WIELD_EXCEPTION_NEW("ex is a zero vector");
+  if (ez.norm() < tolerance) WIELD_EXCEPTION_NEW("ez is a zero vector");
+  if (ex.norm() < tolerance) WIELD_EXCEPTION_NEW("ex is a zero vector");
   Eigen::Vector3d ey = ez.cross(ex);
   Eigen::Matrix3d Omega;
   Omega.col(0) = ex / ex.norm();