General API improvements + orientation representation conversion additions + updated documentation
Minor editorial updates to README
Update library documentation with examples
Move API documentation out to a Wiki page
Update API documentation URL
Update JS header blurb
Change README blurb
Fix minor type in lib header blurb
Use correct axis conventions for Quaternion->Euler conversions. i.e. beta [-pi, pi], gamma [-pi/2, pi/2].
Fix gimbal lock discontinuity in Quaternion->Euler conversion process
Avoid inline re-calculation of PI-based constant values
Avoid in-line variable creation in double-nested functions