As discussed in #210, it's better to follow the order of SVector.
julia> aa = AngleAxis(2.4, 0, 0, 1) # angle, x, y, z
3×3 AngleAxis{Float64} with indices SOneTo(3)×SOneTo(3)(2.4, 0.0, 0.0, 1.0):
-0.737394 -0.675463 0.0
0.675463 -0.737394 0.0
0.0 0.0 1.0
julia> Rotations.params(aa).z # this should be 1
0.0
julia> Rotations.params(aa).w # this should be 2.4
1.0
If we change the order from (theta, axis_x, axis_y, axis_z) to (axis_x, axis_y, axis_z, theta) (or just (x,y,z,angle)), then the name of the type should be changed to AxisAngle.
As discussed in #210, it's better to follow the order of
SVector.If we change the order from
(theta, axis_x, axis_y, axis_z)to(axis_x, axis_y, axis_z, theta)(or just(x,y,z,angle)), then the name of the type should be changed toAxisAngle.