v0.2.1

• Performance improvements:

  • eye and zeros functions are @inline now.

• Tests:

  • Add new tests to increase coverage.

• Documentation:

  • Initial version of the package documentation.

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.

v0.1.0

Initial release of ReferenceFramesRotations.jl.

This release contains the same code of v0.3 of the old package Rotations.jl with only the name change. This was necessary because this will be submitted as an official Julia package and the name Rotations.jl was already taken.