pub type Vec3 = nalgebra::Vector3<f64>;
pub type Quaternion = nalgebra::UnitQuaternion<f64>;
pub type Vector<const T: usize> = nalgebra::SVector<f64, T>;
pub type Matrix<const M: usize, const N: usize> = nalgebra::SMatrix<f64, M, N>;
pub type Vector6 = Vector<6>;
pub type Vector3 = Vector<3>;
pub type Matrix3 = Matrix<3, 3>;
pub type Matrix6 = Matrix<6, 6>;
pub type Matrix67 = Matrix<6, 7>;