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...At their heart, each rotation parameterization is a 3×3 unitary (orthogonal) matrix (based on the StaticArrays.jl package), and acts to rotate a 3-vector about the origin through matrix-vector multiplication. While the RotMatrix type is a dense representation of a 3×3 matrix, we also have sparse (or computed, rather) representations such as quaternions, angle-axis parameterizations, and Euler angles. All rotation types support one(R) to construct the identity rotation for the desired parameterization.

Geodesy is a Julia package for working with points in various world and local coordinate systems. The primary feature of Geodesy is to define and perform coordinate transformations in a convenient and safe framework, leveraging the CoordinateTransformations package. Transformations are accurate and efficient and implemented in native Julia code (with many functions being ported from Charles Karney's GeographicLib C++ library), and some common geodetic datums are provided for convenience.