Rotations.jl

3D rotations made easy in Julia. This package implements various 3D rotation parameterizations and defines conversions between them. 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.