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Fix versor condition residual

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This commit is contained in:
Shay 2026-05-13 12:49:53 -07:00
parent 3abae93e73
commit 5b34b72158
1 changed files with 10 additions and 8 deletions
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18
algebra/versor.py
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@ -53,14 +53,14 @@ def unitize_versor(v: np.ndarray) -> np.ndarray:
Scaled copy of v satisfying |V * ~V|_scalar ≈ 1.
Raises:
ValueError: if v is a zero or near-zero multivector.
ValueError: if v is a null, zero, or near-zero multivector.
"""
v = np.asarray(v, dtype=np.float32)
vv = geometric_product(v, reverse(v))
scalar_sq = float(vv[0])
if abs(scalar_sq) < 1e-12:
raise ValueError(
"unitize_versor: multivector is zero or near-zero, cannot unitize."
"unitize_versor: null, zero, or near-zero multivector; cannot unitize."
)
scale = 1.0 / np.sqrt(abs(scalar_sq))
return (v * scale).astype(np.float32)
@ -103,12 +103,14 @@ def versor_apply(V: np.ndarray, F: np.ndarray) -> np.ndarray:
def versor_condition(v: np.ndarray) -> float:
"""
Measure how far v is from being a unit versor.
Full residual distance from the unit-versor condition.
Returns |scalar_part(v * reverse(v)) - 1|.
At zero, v is exactly a unit versor.
Used at the injection gate to assert the invariant before returning.
Computes ||v * reverse(v) - 1||_F, not a signed scalar shortcut.
Zero means v satisfies the unit-versor condition. Any non-scalar residue
or scalar drift contributes positively to the residual.
"""
v = np.asarray(v, dtype=np.float32)
vv = geometric_product(v, reverse(v))
return float(abs(vv[0]) - 1.0)
vv = geometric_product(v, reverse(v)).astype(np.float32)
vv = vv.copy()
vv[0] -= 1.0
return float(np.linalg.norm(vv))