JuliaGeometry/Rotations.jl

Document intrinsic vs. extrinsic rotations

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#281 opened on Jan 26, 2024

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Description

We recently noticed that rotations such as RotXYZ are extrinsic, meaning that they rotate with respect to the original xyz axis. Is it possible to rotate around z, then rotate around the new y' and finally around the new x''? The so called intrinsic rotations?

https://en.wikipedia.org/wiki/Euler_angles#Chained_rotations_equivalence

We migrated from ReferenceFrameRotations.jl to Rotations.jl and noticed that some of our rotation conventions were compromised.

cc: @hyrodium

Contributor guide

Research direction
Review the Rotations.jl documentation and source code for RotXYZ to understand the current implementation. Then, document whether intrinsic rotations are supported and how to achieve them, or propose a new function for intrinsic rotations if needed.
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julia
Domain
documentation
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Documentation
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
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1-3 hours
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Active
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Clear
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GitJulia
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70