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https://issues.apache.org/jira/browse/MATH-363?page=com.atlassian.jira.plugin.system.issuetabpanels:all-tabpanel
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Luc Maisonobe closed MATH-363.
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Closing issue as it was included in version 2.2, which has been released
> please clarify quaternion conventions in
> org.apache.commons.math.geometry.Rotation
> ----------------------------------------------------------------------------------
>
> Key: MATH-363
> URL: https://issues.apache.org/jira/browse/MATH-363
> 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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