v2.0.0

ReferenceFrameRotations v2.0.0

Diff since v1.0.1

• Previously, Quaternion was <:AbstractVector. However, this choice was leading to many problems when interfacing with other packages. For example, it was very difficult to make it works together with Zygote.jl because of the multiplication. In the previous version, Quaternion was an array in which the multiplication q1 * q2 (both 4x1 arrays) leads to another 4x1 arrays, breaking a lot of assumptions about arrays. Many functions were defined to reduce the number of breakage. Quaternion supports iterations and broadcast. Hence, I do not expect many problems.
• The function zeros for Quaternion is now deprecated. Use zero instead.
• The function create_rotation_matrix is now deprecated. Use angle_to_dcm instead.
• The function angle_to_dcm can now create a DCM from a single rotation.
• The function angle_to_quat can now create a quaternion from a single rotation.
• The function angle_to_rot can now create a rotation from a single rotation.
• The functions zero and one are now defined for Quaternion.
• Many improvements related to the type promotion in the functions.

Closed issues:

• Product between a quaternion and a pure quaternion (#16)