✨ Add conversion methods to DCM (#19)

Author: juliohm

.gitignore

@@ -4,3 +4,4 @@
 *.jl.mem
 docs/build/
 docs/site/
+Manifest.toml

Project.toml

@@ -11,13 +11,13 @@ LinearAlgebra = "37e2e46d-f89d-539d-b4ee-838fcccc9c8e"
 Printf = "de0858da-6303-5e67-8744-51eddeeeb8d7"
 StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 
-[extras]
-Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
-
 [compat]
-julia = "1"
 Crayons = "4.0"
 StaticArrays = "1"
+julia = "1"
+
+[extras]
+Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
 test = ["Test"]

src/ReferenceFrameRotations.jl

@@ -16,10 +16,11 @@ using StaticArrays
 export I
 
 ################################################################################
-#                                    Types
+#                             Types & Conversions
 ################################################################################
 
 include("types.jl")
+include("conversions.jl")
 
 ################################################################################
 #                                  Constants

src/conversions.jl

@@ -0,0 +1,21 @@
+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
+#
+# Description
+# ==============================================================================
+#
+#   Conversion methods between different rotation types.
+#
+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
+
+# Base.convert is already exported
+
+################################################################################
+#                              Conversion Methods
+################################################################################
+
+# TODO: deprecate angle_to_dcm, quat_to_dcm, ...
+# TODO: move all the implementations over here
+
+Base.convert(::Type{<:DCM}, a::EulerAngles)    = angle_to_dcm(a)
+Base.convert(::Type{<:DCM}, a::Quaternion)     = quat_to_dcm(a)
+Base.convert(::Type{<:DCM}, a::EulerAngleAxis) = angleaxis_to_dcm(a)

test/conversions.jl

@@ -0,0 +1,29 @@
+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
+#
+# Desription
+# ==============================================================================
+#
+#   Tests related to conversion methods.
+#
+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #
+
+# File: ./src/conversions.jl
+# =========================================
+
+# Functions: Base.convert
+# -------------------------
+
+@testset "Conversion Methods" begin
+    T = Float64
+
+    for rot_seq in valid_rot_seqs
+        # Sample Euler angles.
+        ea = EulerAngles(_rand_ang(T), _rand_ang(T), _rand_ang(T), rot_seq)
+
+        # Convert to DCM.
+        D = convert(DCM, ea)
+        @test D isa SArray
+        @test eltype(D) === T
+        @test size(D) == (3, 3)
+    end
+end

test/runtests.jl

@@ -119,6 +119,7 @@ end
 println("")
 
 @time @addverbose @testset "Conversions" begin
+    include("conversions.jl")
     include("./conversions/angle_to_angle.jl")
     include("./conversions/angle_to_angleaxis.jl")
     include("./conversions/angle_to_dcm.jl")