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Repository Guide

Package Structure

  • Treat this repository as a single Julia package. Requires Julia 1.10 or newer.
  • Use src/ReferenceFrameRotations.jl as the package entrypoint.
  • Preserve the include order: types; angle/angle-axis; composition/DCM/inversion/random; quaternion/CRP/MRP/shadow; deprecations; conversions.
  • Add methods only after their dependencies and preserve the existing include order.
  • Use ext/ReferenceFrameRotationsZygoteExt.jl only when both ForwardDiff and Zygote are present; that is when the extension activates.
  • Add tests to files explicitly included from test/runtests.jl; adding a test file alone does not run it.
  • Use the test extras and targets declared in Project.toml: Test, DifferentiationInterface, FiniteDiff, StableRNGs, and Zygote.

Commands

  • Instantiate with julia --project=. -e 'using Pkg; Pkg.instantiate()'.
  • Run the full local CI-equivalent suite with julia --project=. -e 'using Pkg; Pkg.test()'.
  • Allow generous time for first-run dependency installation and precompilation.
  • Do not recommend the direct runtests command as a focused route because test extras may be unavailable outside the package test environment.
  • Treat CI's Julia buildpkg-then-runtest flow as equivalent to local Pkg.test().
  • Build documentation with julia --project=docs docs/make.jl.
  • Format with julia -e 'using JuliaFormatter; format(".")' after installing JuliaFormatter in the active tooling environment.
  • Optionally verify formatting with git diff --exit-code after formatting.
  • Account for CI coverage on Julia 1.10 and current stable Julia across supported Ubuntu, macOS, and Windows architectures, with a nightly equivalent.

Code Style

  • Treat .JuliaFormatter.toml as the source of truth; it configures JuliaFormatter BlueStyle.
  • Preserve generic numeric types, static arrays, allocation expectations, optional differentiability, deprecation behavior, and Base and LinearAlgebra semantics.

Behavioral Constraints

  • Preserve the package's 3D rotation scope and use radians for angles.
  • Keep quaternion components scalar-first as q0 q1 q2 q3.
  • Preserve fixed-size static 3x3 DCMs.
  • Preserve the default Euler axes Symbol :ZYX and the constraints on valid Euler axis sequences.
  • Preserve composition ordering and frame conventions.
  • Account for shadow_rotation when working with MRPs.

Not Configured

  • Do not look for or add a Makefile or deps/build.jl; neither exists or is configured.
  • Do not expect a configured linter, precommit hook, or formatter CI.