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📚 Fix docstrings, add description headers, and remove trailing spaces
- Add description section headers to all new CRP/MRP conversion files - Fix typos in docstrings: `ReferenceFramerotation`, `anlges`, `the used` - Remove trailing whitespace from CRP/MRP source files Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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‎src/conversions/crp_to_angle.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from CRP to Euler angles.
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#
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############################################################################################
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export crp_to_angle
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"""

‎src/conversions/crp_to_angleaxis.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from CRP to Euler angle and axis.
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#
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############################################################################################
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export crp_to_angleaxis
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"""

‎src/conversions/crp_to_dcm.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from CRP to DCM.
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#
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############################################################################################
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export crp_to_dcm
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"""

‎src/conversions/crp_to_quat.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from CRP to quaternion.
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#
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############################################################################################
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export crp_to_quat
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"""
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function crp_to_quat(c::CRP)
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q_sq = c.q1^2 + c.q2^2 + c.q3^2
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β0 = 1 / sqrt(1 + q_sq)
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return Quaternion(β0, c.q1 * β0, c.q2 * β0, c.q3 * β0)
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end

‎src/conversions/dcm_to_crp.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from DCM to CRP.
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#
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############################################################################################
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export dcm_to_crp
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"""

‎src/conversions/dcm_to_mrp.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from DCM to MRP.
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#
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############################################################################################
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export dcm_to_mrp
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"""

‎src/conversions/mrp_to_angle.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from MRP to Euler angles.
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#
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############################################################################################
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export mrp_to_angle
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"""

‎src/conversions/mrp_to_angleaxis.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from MRP to Euler angle and axis.
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#
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############################################################################################
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export mrp_to_angleaxis
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"""

‎src/conversions/mrp_to_dcm.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from MRP to DCM.
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#
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############################################################################################
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export mrp_to_dcm
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"""
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function mrp_to_dcm(m::MRP)
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# Direct formula from the provided image:
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# [C] = [I] + (8 [skew(m)]^2 - 4(1 - |m|^2)[skew(m)]) / (1 + |m|^2)^2
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s_sq = m.q1^2 + m.q2^2 + m.q3^2
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denom = (1 + s_sq)^2
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fac1 = 8 / denom
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fac2 = 4 * (1 - s_sq) / denom
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# Skew symmetric matrix components
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# [ 0 -q3 q2]
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# [ q3 0 -q1]
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# [-q2 q1 0 ]
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# Precompute skew terms
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sk_12 = -m.q3
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sk_13 = m.q2
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sk_21 = m.q3
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sk_23 = -m.q1
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sk_31 = -m.q2
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sk_32 = m.q1
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# Skew^2 terms
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# Row 1
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# sk2_11 = sk_12 * sk_21 + sk_13 * sk_31 = -q3*q3 + q2*(-q2) = -q3^2 - q2^2
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# sk2_12 = sk_13 * sk_32 = q2 * q1
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# sk2_13 = sk_12 * sk_23 = -q3 * -q1 = q1q3
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sk2_11 = -m.q3^2 - m.q2^2
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sk2_12 = m.q1 * m.q2
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sk2_13 = m.q1 * m.q3
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sk2_21 = sk2_12
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sk2_22 = -m.q3^2 - m.q1^2
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sk2_23 = m.q2 * m.q3
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sk2_31 = sk2_13
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sk2_32 = sk2_23
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sk2_33 = -m.q2^2 - m.q1^2
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# Combine
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d11 = 1 + fac1 * sk2_11
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d12 = fac1 * sk2_12 - fac2 * sk_12
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d13 = fac1 * sk2_13 - fac2 * sk_13
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d21 = fac1 * sk2_21 - fac2 * sk_21
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d22 = 1 + fac1 * sk2_22
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d23 = fac1 * sk2_23 - fac2 * sk_23
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d31 = fac1 * sk2_31 - fac2 * sk_31
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d32 = fac1 * sk2_32 - fac2 * sk_32
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d33 = 1 + fac1 * sk2_33
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return DCM(d11, d12, d13, d21, d22, d23, d31, d32, d33)'
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end

‎src/conversions/mrp_to_quat.jl‎

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## Description #############################################################################
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#
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# Functions related to the conversion from MRP to quaternion.
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#
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############################################################################################
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export mrp_to_quat
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"""
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function mrp_to_quat(m::MRP)
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s_sq = m.q1^2 + m.q2^2 + m.q3^2
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denom = 1 + s_sq
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β0 = (1 - s_sq) / denom
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f = 2 / denom
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return Quaternion(β0, f * m.q1, f * m.q2, f * m.q3)
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end

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