UnitQuaternion quaternion number equality conflicts with rotation matrix equality

[jenkspt]

julia> q = UnitQuaternion(1., 0., 0., 1.)
3×3 UnitQuaternion{Float64} with indices SOneTo(3)×SOneTo(3)(0.707107, 0.0, 0.0, 0.707107):
 0.0  -1.0  0.0
 1.0   0.0  0.0
 0.0   0.0  1.0

julia> -q
3×3 UnitQuaternion{Float64} with indices SOneTo(3)×SOneTo(3)(-0.707107, -0.0, -0.0, -0.707107):
 0.0  -1.0  0.0
 1.0   0.0  0.0
 0.0   0.0  1.0

julia> q ≈ -q
true

The problem here is that q and -q are represented by the same 3x3 rotation matrix, but in terms of quaternion math ops, q should not equal q.

I'm thinking that the quaternion math should take precedent here, and thus q should not equal -q

[hyrodium]

This will be fixed in #175.

julia> q = UnitQuaternion(1., 0., 0., 1.)  # with PR#175
3×3 UnitQuaternion{Float64} with indices SOneTo(3)×SOneTo(3)(0.707107, 0.0, 0.0, 0.707107):
 0.0  -1.0  0.0
 1.0   0.0  0.0
 0.0   0.0  1.0

julia> -q
3×3 StaticArrays.SMatrix{3, 3, Float64, 9} with indices SOneTo(3)×SOneTo(3):
 -0.0   1.0  -0.0
 -1.0  -0.0  -0.0
 -0.0  -0.0  -1.0

UnitQuaternion is a matrix rather than quaternion, so -q should be SMatrix.
This naming is confusing, so UnitQuaternion will be renamed QuatRotation. (#171 (comment))

[hyrodium]

This issue has been solved by #175.