# \#rotations

**URL:** https://discourse.julialang.org/tag/rotations/1669.md

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## [3D point rotation](https://discourse.julialang.org/t/3d-point-rotation/134810)

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**Author:** [@mahmah](https://discourse.julialang.org/u/mahmah)\
**Replies:** 19\
**Last updated:** [January 2, 2026, 7:59am UTC](https://discourse.julialang.org/t/3d-point-rotation/134810 "2026-01-02T07:59:58Z")

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I have a 2D array x of size (r, c), where c = 3\*nm, so stacked 3D points. I’m able to rotate it around axis based on some θ value, but this code is not flying very fast. I tried using Quaternions for this but I didn’t f…

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## [Quaternions with symbolic equations (MTK)](https://discourse.julialang.org/t/quaternions-with-symbolic-equations-mtk/128263)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 2\
**Last updated:** [April 21, 2025, 12:16pm UTC](https://discourse.julialang.org/t/quaternions-with-symbolic-equations-mtk/128263 "2025-04-21T12:16:37Z")

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Is their a package for quaternions that works well with symbolic equations? We wrote now our own functions, but I think this should be done either in a new package, or added to one of the existing packages like Rotations…

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## [How to calculate roll, pitch and yaw?](https://discourse.julialang.org/t/how-to-calculate-roll-pitch-and-yaw/121183)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 20\
**Last updated:** [October 21, 2024, 4:41pm UTC](https://discourse.julialang.org/t/how-to-calculate-roll-pitch-and-yaw/121183 "2024-10-21T16:41:43Z")

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I am trying to calculate the orientation of a wing, expressed as roll, pitch and yaw angle based on the three unit vectors, that form the kite reference frame. All coordinates are in ENU (East, North, Up) reference fram…

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## [How can I implement the TRIAD algorithm in Julia](https://discourse.julialang.org/t/how-can-i-implement-the-triad-algorithm-in-julia/121151)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 32\
**Last updated:** [October 11, 2024, 3:02pm UTC](https://discourse.julialang.org/t/how-can-i-implement-the-triad-algorithm-in-julia/121151 "2024-10-11T15:02:25Z")

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I try to calculate the rotation matrix that needs to applied on one reference frame to match a second reference frame. I have the following code: # test calculation of the orientation using LinearAlgebra, Rotations, Sta…

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## [Quaternion to Euler angles](https://discourse.julialang.org/t/quaternion-to-euler-angles/119740)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 4\
**Last updated:** [September 23, 2024, 11:51am UTC](https://discourse.julialang.org/t/quaternion-to-euler-angles/119740 "2024-09-23T11:51:50Z")

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How can I convert a quaternion into Euler angles? Not working: using Rotations q = Float32\[0.51791805, 0.48140272, -0.4814214, -0.5179244\] RotXYZ(q) This fails with a dimension mismatch error. See: Euler Angles · Rot…