From d932290bd943e3d75fc11685749212875ff428dd Mon Sep 17 00:00:00 2001
From: Elias Carvalho <73039601+eliascarv@users.noreply.github.com>
Date: Sat, 18 May 2024 12:04:58 -0300
Subject: [PATCH] Fix: rotate a vector of quantities with `AngleAxis` (#296)

* Fix: rotate a vector of quantities with 'AngleAxis'

* Add tests

* Rename variable

* Update testset
---
 src/angleaxis_types.jl |  2 +-
 test/rotation_tests.jl | 22 ++++++++++++++++++++++
 2 files changed, 23 insertions(+), 1 deletion(-)

diff --git a/src/angleaxis_types.jl b/src/angleaxis_types.jl
index eeb526a..85cf09e 100644
--- a/src/angleaxis_types.jl
+++ b/src/angleaxis_types.jl
@@ -110,7 +110,7 @@ function Base.:*(aa::AngleAxis, v::StaticVector)
     st, ct = sincos(aa.theta)
     w_cross_pt = cross(w, v)
     m = dot(v, w) * (one(w_cross_pt[1]) - ct)
-    T = promote_type(eltype(aa), eltype(v))
+    T = Base.promote_op(*, eltype(aa), eltype(v))
     return similar_type(v,T)(v[1] * ct + w_cross_pt[1] * st + w[1] * m,
                              v[2] * ct + w_cross_pt[2] * st + w[2] * m,
                              v[3] * ct + w_cross_pt[3] * st + w[3] * m)
diff --git a/test/rotation_tests.jl b/test/rotation_tests.jl
index 16a3f8e..ec64170 100644
--- a/test/rotation_tests.jl
+++ b/test/rotation_tests.jl
@@ -209,6 +209,28 @@ all_types = (RotMatrix3, RotMatrix{3}, AngleAxis, RotationVec,
         end
     end
 
+    @testset "Rotation result eltype" begin
+        QuantityF64 = typeof(1.0u"m")
+        QuantityF32 = typeof(1.0f0u"m")
+        @testset "$(R)" for R in all_types
+            r1 = rand(R{Float64})
+            r2 = rand(R{Float32})
+            v1 = rand(SVector{3,Float64})
+            v2 = rand(SVector{3,Float32})
+            v3 = rand(SVector{3,QuantityF64})
+            v4 = rand(SVector{3,QuantityF32})
+
+            @test eltype(r1*v1) <: Float64
+            @test eltype(r1*v2) <: Float64
+            @test eltype(r1*v3) <: QuantityF64
+            @test eltype(r1*v4) <: QuantityF64
+            @test eltype(r2*v1) <: Float64
+            @test eltype(r2*v2) <: Float32
+            @test eltype(r2*v3) <: QuantityF64
+            @test eltype(r2*v4) <: QuantityF32
+        end
+    end
+
     @testset "Quaternion double cover" begin
         repeats = 100
         Q = QuatRotation