📚 Add documentation for CRP and MRP

Author: ronisbr

docs/make.jl

@@ -18,9 +18,11 @@ makedocs(
     authors = "Ronan Arraes Jardim Chagas",
     pages = [
         "Home" => "index.md",
+        "Classical Rodrigues Parameters" => "man/crp.md",
         "Direction Cosine Matrices" => "man/dcm.md",
         "Euler Angle and Axis" => "man/euler_angle_axis.md",
         "Euler Angles" => "man/euler_angles.md",
+        "Modified Rodrigues Parameters" => "man/mrp.md",
         "Quaternions" => "man/quaternions.md",
         "Conversions" => "man/conversions.md",
         "Kinematics" => "man/kinematics.md",

docs/src/index.md

@@ -25,18 +25,19 @@ julia> Pkg.add("ReferenceFrameRotations")
 
 This packages supports the following representations of 3D rotations:
 
+* **Classical Rodrigues Parameters (CRP)**;
+* **Direction Cosine Matrices (DCMs)**;
 * **Euler Angle and Axis**;
 * **Euler Angles**;
-* **Direction Cosine Matrices (DCMs)**;
+* **Modified Rodrigues Parameters (MRP)**; and
 * **Quaternions**.
 
-However, composing rotations is only currently supported for DCMs and
-Quaternions.
+All of those representations support rotation composition and inversion in this package.
 
 ## Roadmap
 
-This package will be continuously enhanced. Next steps will be to add other
-representations of 3D rotations such as Rodrigues parameters, etc.
+This package will be continuously enhanced. Next steps will include API improvements,
+performance optimizations, and additional utilities for supported representations.
 
 ## Manual outline
 
@@ -46,6 +47,8 @@ Pages = [
     "man/euler_angle_axis.md",
     "man/euler_angles.md",
     "man/quaternions.md",
+    "man/crp.md",
+    "man/mrp.md",
     "man/conversions.md",
     "man/kinematics.md",
     "man/composing_rotations.md",

docs/src/man/composing_rotations.md

@@ -17,9 +17,23 @@ compose_rotation(R1, R2, R3, R4...)
 in which `R1`, `R2`, `R3`, ..., must be of the same type. This method returns the following
 rotation:
 
+```text
+ First rotation
+ |
+ |
+R1 => R2 => R3 => R4 => ...
+       |
+       |
+       Second rotation
+```
+
+Hence, `compose_rotation(R1, R2)` means the rotation `R1` is applied first, followed by
+`R2`.
+
 ![Composing rotations](../assets/Fig_Composing_Rotations.png)
 
-Currently, this method supports DCMs, Euler angle and axis, Euler angles, and Quaternions.
+Currently, this method supports DCMs, Euler angle and axis, Euler angles, Quaternions,
+Classical Rodrigues Parameters (CRP), and Modified Rodrigues Parameters (MRP).
 
 ```@repl composing_rotations
 D1 = angle_to_dcm(0.5, 0.5, 0.5, :XYZ)
@@ -45,6 +59,18 @@ q1 = angle_to_quat(0.5, 0.5, 0.5, :XYZ)
 q2 = angle_to_quat(-0.5, -0.5, -0.5, :ZYX)
 
 compose_rotation(q1, q2)
+
+c1 = angle_to_crp(0.2, 0.1, -0.1, :ZYX)
+
+c2 = angle_to_crp(-0.1, 0.1, 0.2, :XYZ)
+
+compose_rotation(c1, c2)
+
+m1 = angle_to_mrp(0.2, 0.1, -0.1, :ZYX)
+
+m2 = angle_to_mrp(-0.1, 0.1, 0.2, :XYZ)
+
+compose_rotation(m1, m2)
 ```
 
 ## Operator ∘