JuliaGeometry / JuliaGeometry/Rotations.jl
Document intrinsic vs. extrinsic rotations
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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
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First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by reading the RotXYZ convention described in the issue and compare it with the linked Euler angles reference on chained rotations. Document whether intrinsic rotations are supported, how the z-then-new-y'-then-new-x'' convention relates to the existing behavior, and clarify the relevant rotation conventions for users migrating from ReferenceFrameRotations.jl.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- julia
- Domain
- documentation
- Issue type
- Documentation
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 38/100