Euler Angle and Axis

The Euler angle and axis representation is defined by the following immutable structure:

struct EulerAngleAxis{T}
    a::T
    v::SVector{3,T}
end

in which a is the Euler Angle and v is a unitary vector aligned with the Euler axis.

The constructor for this structure is:

function EulerAngleAxis(a::T1, v::AbstractVector{T2}) where {T1,T2}

in which a EulerAngleAxis with angle a [rad] and vector v will be created. Notice that the type of the returned structure will be selected according to the input types T1 and T2. Furthermore, the vector v will not be normalized.

julia> EulerAngleAxis(1,[1,1,1])
EulerAngleAxis{Int64}(1, [1, 1, 1])

julia> EulerAngleAxis(1.f0,[1,1,1])
EulerAngleAxis{Float32}(1.0f0, Float32[1.0, 1.0, 1.0])

julia> EulerAngleAxis(1,[1,1,1.f0])
EulerAngleAxis{Float32}(1.0f0, Float32[1.0, 1.0, 1.0])

julia> EulerAngleAxis(1.0,[1,1,1])
EulerAngleAxis{Float64}(1.0, [1.0, 1.0, 1.0])