Agent skill
reference-frame-rotations
ReferenceFrameRotations.jl for 3D rotation representations (DCM, Quaternion, Euler angles). Use when constructing rotation matrices, converting between rotation representations, composing rotations, or computing attitude kinematics.
Install this agent skill to your Project
npx add-skill https://github.com/majiayu000/claude-skill-registry/tree/main/skills/other/other/reference-frame-rotations-hammerhead-space-agenticcodingrules
SKILL.md
ReferenceFrameRotations.jl
3D rotation representation and conversion library. Repo: JuliaSpace/ReferenceFrameRotations.jl
Types
DCM{T}-- 3x3 Direction Cosine Matrix (SMatrix{3,3,T})Quaternion{T}-- Scalar-first:q = q0 + q1·i + q2·j + q3·kEulerAngles{T}-- Three angles(a1, a2, a3)with rotation sequence symbolEulerAngleAxis{T}-- Angleaand axis vectorv
Construction
D = angle_to_dcm(θ₁, θ₂, θ₃, :ZYX) # Euler angles -> DCM
q = angle_to_quat(θ₁, θ₂, θ₃, :ZYX) # Euler angles -> Quaternion
D = smallangle_to_dcm(δx, δy, δz) # Small angle approximation
q = Quaternion(1.0, 0.0, 0.0, 0.0) # Identity quaternion
D = DCM(I) # Identity DCM
12 rotation sequences: :XYX, :XYZ, :XZX, :XZY, :YXY, :YXZ, :YZX, :YZY, :ZXY, :ZXZ, :ZYX, :ZYZ
Conversions (bidirectional between all types)
q = dcm_to_quat(D) D = quat_to_dcm(q)
ea = dcm_to_angle(D, :ZYX) D = angle_to_dcm(ea)
aa = dcm_to_angleaxis(D) D = angleaxis_to_dcm(aa)
ea = quat_to_angle(q, :ZYX) q = angle_to_quat(ea)
Composition
D3 = compose_rotation(D1, D2) # Same type required
D3 = D2 ∘ D1 # Mixed types OK (converts to left type)
q3 = q1 * q2 # Hamilton product
Kinematics
dq = dquat(q_ba, ω_ba_b) # Quaternion time-derivative from angular velocity
dD = ddcm(D_ba, ω_ba_b) # DCM time-derivative from angular velocity
Utilities
inv_rotation(D) # Inverse rotation (transpose for DCM)
orthonormalize(D) # Gram-Schmidt re-orthonormalization
conj(q) # Quaternion conjugate
norm(q) # Quaternion norm
Key Conventions
- Quaternion scalar-first convention:
(q0, q1, q2, q3) - All angles in radians
- All types immutable, backed by StaticArrays
- AD support via ForwardDiff/Zygote extension
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