Add eul2quat function. Currently only accept scalar. Need to do input checking.
Add input_check_1d function to do 1-D input check.
Non-array (e.g. float or int) will be converted into 1-D array
2-D arrays will be reshaped to 1-D and this will check for Nx1 type input.

Implement input checking with eul2quat. Need to write the documentation for
this function.
Rename eul2quat() as angle2quat() as agreed upon.
Rename input_check_1d() to input_check_Nx1() for clarity.
Begin quat2angle(), still emtpy.
Function quat2angle() completed. Add input_check_Nx3().
Need to write docstrings for everything.
Added documentations for angle2quat() and quat2angle()
Added docstrings and examples for angle2quat and quat2angle
Correct expected output to match python output (string comparison)
Added quat2dcm() with docstrings.
Add dcm2quat with docstrings
Added qmult for quaternion multiplication. Tested for vector operation. Need examples in docstring.
Fix qmult for N (more than 1) inputs.
Fix input_check_Nx1 and input_check_Nx3, flatten output to 1-D array when able
Added wgs84.py as a module containing all the wgs84 constants

Added earthrad function to calculate the earth's radius.
Added llarate function to calculate the latitude, longitude, and altitude
rate given Earth relative velocity and position.
Calling East-West radius as Transverse Radius and North-South radius as
Meridian radius as Groves define them.
Fix quat2dcm function after fixing the output of input_check_Nx3()
Added lla2ecef and ecef2ned.
Added some examples on the documentation.
Updated values of GM and Earth's rate with the value from GPS ICD-200
Added ecef2lla, able to handle vector. Verified using back conversion (i.e.
get ecef using lla2ecef and then use the NEW ecef2lla to get back the input
lla)
Update WGS84 module to reflect WGS 84 publication.

Documentation was added as well.  Some names were changed to refelct
the official names.  Other code that uses WGS 84 will need to be
updated to use the new names (for example, 'R0' is now 'a').
Update navpy to use new wgs84 naming convention.

Since the official wgs 84 parameters were implemented, some of the
doc-tests were adjusted to reflect the new numbers.  This is only
true for the earthrad function.  No other doctests were modified.