v0.2.0

• Performance improvements:

  • The Direction Cosine Matrices were converted from Matrix to SMatrix{3,3}. This provided a huge performance boost, but now the DCM is immutable.
  • The Quaternions, Euler Angles, and Euler Angle and Axis representations were also converted to immutable types.

• New:

  • It is now possible to create Direction Cosine Matrices and Quaternions that represent small rotations using the functions smallangle2dcm and smallangle2quat.
  • The function angle2quat can now be called using EulerAngles as argument.
  • A set of rotations described by Direction Cosine Matrices or Quaternions can now be composed using the function compose_rotation. The input is the rotations in the desired order (from the first to the last).
  • angle2rot and smallangle2rot are two functions that can be used to create rotations descriptions from Euler angles based on the type of the arguments.
  • inv_rotation is a new function that can be used to compute inverse rotations. It can receive as input a Direction Cosine Matrix or a Quaternion.

• Changes:

  • The rotations sequences are now described by symbols instead of strings. Hence, "ZYX" was replaced by :ZYX, "XYZ" by :XYZ, 'x' or 'X' by :X, and so on.
  • Due to the new type of DCMs, they now must be initialized using the type DCM. Hence, dcm = [1 0 0; 0 -1 0; 0 0 -1] must be replaced by dcm = DCM([1 0 0; 0 -1 0; 0 0 -1]).
  • The RotationSequenceError exception were removed and replaced by ArgumentError with a useful error message. The function angle2quat was modified so that the real part of the quaternion is always positive.

• Dropped functions:

  • <Function>!: All functions that modify a parameter (the ones that end with !) were dropped because now all the types are immutables.