Attitude Representations¶

Attitude representations for 3D rotations.

Provides four interconvertible attitude representation types:

• :class:Quaternion -- unit quaternion (scalar-first [w, x, y, z])
• :class:RotationMatrix -- 3x3 direction cosine matrix (SO(3))
• :class:EulerAngle -- three successive rotations with 12 possible orders
• :class:EulerAxis -- rotation axis + angle (axis-angle)

Also re-exports the elementary rotation functions :func:Rx, :func:Ry, :func:Rz and the :class:EulerAngleOrder enum.