# ReferenceFrameRotations v0.5.0 has been tagged

**URL:** <https://discourse.julialang.org/t/referenceframerotations-v0-5-0-has-been-tagged/17725>\
**Category:** Astro/Space\
**Created:** [November 19, 2018, 6:34pm UTC](https://discourse.julialang.org/t/referenceframerotations-v0-5-0-has-been-tagged/17725 "2018-11-19T18:34:55Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![Ronis\_BR](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/ronis_br/32/50999_2.png) [@Ronis\_BR](https://discourse.julialang.org/u/Ronis_BR)\
**Post date:** [November 19, 2018, 6:34pm UTC](https://discourse.julialang.org/t/referenceframerotations-v0-5-0-has-been-tagged/17725/1 "2018-11-19T18:34:55Z")

</div>

Hi guys!

This is not directly related to Astro/Space, but I did not find a more appropriate local to post this.

I have just tagged the v0.5.0 do [ReferenceFrameRotations.jl](https://github.com/JuliaSpace/ReferenceFrameRotations.jl). Now, we have full support for the four different rotation representations supported by the package: Direction Cosine Matrices (DCM), Euler Angle and Axis, Euler Angles, and Quaternions.

Hence, for example, we can compose rotations using Euler Angles:

```julia-repl
julia> Θ₁ = EulerAngles(pi/3,pi/4,pi/5,:XYZ)
EulerAngles{Float64}:
  R(X): 1.0472 rad ( 60.0000 deg)
  R(Y): 0.7854 rad ( 45.0000 deg)
  R(Z): 0.6283 rad ( 36.0000 deg)

julia> Θ₂ = EulerAngles(pi,pi/2,pi/2,:YXY)
EulerAngles{Float64}:
  R(Y): 3.1416 rad ( 180.0000 deg)
  R(X): 1.5708 rad ( 90.0000 deg)
  R(Y): 1.5708 rad ( 90.0000 deg)

julia> Θ₂*Θ₁
EulerAngles{Float64}:
  R(Y): -2.0344 rad (-116.5651 deg)
  R(X): 0.9117 rad ( 52.2388 deg)
  R(Y): 0.0564 rad ( 3.2315 deg)

```

The same applies for Euler Angle and Axis:

```julia-repl
julia> ea1 = EulerAngleAxis(1, [0;1;0])
EulerAngleAxis{Int64}:
  Euler angle: 1.0000 rad ( 57.2958 deg)
   Euler axis: [0.0000, 1.0000, 0.0000]

julia> ea2 = EulerAngleAxis(1, [0;0;1])
EulerAngleAxis{Int64}:
  Euler angle: 1.0000 rad ( 57.2958 deg)
   Euler axis: [0.0000, 0.0000, 1.0000]

julia> ea2*ea1
EulerAngleAxis{Float64}:
  Euler angle: 1.3834 rad ( 79.2651 deg)
   Euler axis: [0.3603, 0.6596, 0.6596]

```

We can also convert between any two rotation descriptions using the function `<representation 1>_to_<representation 2>` like:

```julia-repl
julia> Θ₁ = EulerAngles(pi/3,pi/4,pi/5,:XYZ)
EulerAngles{Float64}:
  R(X): 1.0472 rad ( 60.0000 deg)
  R(Y): 0.7854 rad ( 45.0000 deg)
  R(Z): 0.6283 rad ( 36.0000 deg)

julia> angle_to_dcm(Θ₁)
3×3 StaticArrays.SArray{Tuple{3,3},Float64,2,9}:
  0.572061 0.789312 0.223006
 -0.415627 0.044565 0.908443
  0.707107 -0.612372 0.353553

julia> angle_to_quat(Θ₁)
Quaternion{Float64}:
  + 0.7018154679091262 + 0.5417432513768273.i + 0.17244580102463125.j + 0.4292222551314542.k

julia> angle_to_angleaxis(Θ₁)
EulerAngleAxis{Float64}:
  Euler angle: 1.5857 rad ( 90.8543 deg)
   Euler axis: [0.7605, 0.2421, 0.6025]

```

The documentation of the package can be found here [Home · Reference Frame Rotations](http://juliaspace.github.io/ReferenceFrameRotations.jl/stable/)