Quaternion naming convention is not ideal
qitrf2gcrf for example has the "to" frame on the right and the "from" frame on the left. This is confusing when writing code that matches the commonnly used mathematical notation.
It makes more sense to have the "from" frame on the right and the "to" frame on the left, to match the mathematical notation.
For example:
$\vec{p}_{itrf} ~~=~~ _{itrf}\mathbf{R}_{gcrf} ~~~\vec{p}_{gcrf}$
A better convention might be:
gcrf_q_itrf
although this admittedly is still unclear without additional documentation which is the to frame and which is the from frame.
- Note: I probably picked this original naming convention since that is what MATLAB appears to use, but it is still less than idea.
Quaternion naming convention is not ideal
qitrf2gcrffor example has the "to" frame on the right and the "from" frame on the left. This is confusing when writing code that matches the commonnly used mathematical notation.It makes more sense to have the "from" frame on the right and the "to" frame on the left, to match the mathematical notation.
For example:
$\vec{p}_{itrf} ~~=~~ _{itrf}\mathbf{R}_{gcrf} ~~~\vec{p}_{gcrf}$
A better convention might be:
gcrf_q_itrfalthough this admittedly is still unclear without additional documentation which is the to frame and which is the from frame.