Fix eltype of nearest_rotation

src/core_types.jl

@@ -235,7 +235,7 @@ See [Wahba's problem](https://en.wikipedia.org/wiki/Wahba%27s_problem) for more
 function nearest_rotation(M::StaticMatrix{N,N}) where N
     u, _, v = svd(M)
     s = sign(det(u * v'))
-    d = @SVector ones(N-1)
+    d = @SVector ones(eltype(M), N-1)
     R = u * Diagonal(push(d,s)) * v'
     return RotMatrix{N}(R)
 end

test/nearest_rotation.jl

@@ -32,4 +32,11 @@
             @test all(sort(eigvals(Symmetric(V)))[2:end] .≥ 0)
         end
     end
+    @testset "return eltype" begin
+        for T in (Float16, Float32, Float64)
+            M = @SMatrix randn(T, 3, 3)
+            R = nearest_rotation(M)
+            @test eltype(M) == eltype(R)
+        end
+    end
 end