RotMatrix3 is the most used return type, but I think this should be QuatRotation because it is more efficient.
However, I am not sure we would like to have *(::RotMatrix, ::RodriguesVec) is RotMatrix or QuatRotation. (x-ref: https://github.com/JuliaGeometry/Rotations.jl/issues/190)
This issue is not just about the multiplication *, but also includes other operations such as /, ^, sqrt(#234) etc.
With the current implementation, the output types of some operations such as
*
are inconsistent.The following is a full list of return types of
*
.RotMatrix3
is the most used return type, but I think this should beQuatRotation
because it is more efficient. However, I am not sure we would like to have*(::RotMatrix, ::RodriguesVec)
isRotMatrix
orQuatRotation
. (x-ref: https://github.com/JuliaGeometry/Rotations.jl/issues/190)This issue is not just about the multiplication
*
, but also includes other operations such as/
,^
,sqrt
(#234) etc.