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Albert Huang commented on MATH363:

Looks good to me, thanks!
> please clarify quaternion conventions in org.apache.commons.math.geometry.Rotation
> 
>
> Key: MATH363
> URL: https://issues.apache.org/jira/browse/MATH363
> Project: Commons Math
> Issue Type: Improvement
> Affects Versions: 2.0
> Environment: all
> Reporter: Albert Huang
> Priority: Minor
>
> Please clarify which quaternion convention is used in the Rotation documentation, and
provide constructor methods to use alternate quaternion conventions.
> For example, the computer graphics community has standardized on representing a rotation
of angle theta about the unit vector (i, j, k) with the quaternion
> { cos(theta/2), i * sin(theta/2), j * sin(theta/2), k * sin(theta/2) }
> e.g., any introductory computer graphics textbook referring to quaternions will describe
them in this convention. This is also the convention appearing on Mathworld, Wikipedia, etc.
> The convention in org.apache.commons.math.geometry.Rotation instead appears to be
> { cos(theta/2), i * sin(theta/2), j * sin(theta/2), k * sin(theta/2) }
> Since I'm not likely to convince you to switch conventions, please at least document
the convention and provide ways to convert from the alternate (this should be trivial?)

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