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Line 188: == Quaternion to Euler angles conversion == A direct formula for the conversion from a quaternion to Euler angles in any of the 12 possible sequences exists<ref>{{cite journal \|last1=Bernardes \|first1=Evandro \|last2=Viollet \|first2=Stéphane \|title=Quaternion to Euler angles conversion: A direct, general and computationally efficient method \|journal=PLOS ONE \|date=10 November 2022 \|volume=17 \|issue=11 \|pages=e0276302 \|doi=10.1371/journal.pone.0276302 \|url=https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0276302 \|language=en \|issn=1932-6203}}</ref>. For the rest of this section, the formula for the sequence '''Body 3-2-1''' will be shown. The Euler angles can be obtained from the quaternions via the relations:<ref>{{cite journal\|last1=Blanco\|first1=Jose-Luis\|title=A tutorial on se (3) transformation parameterizations and on-manifold optimization\|journal=University of Malaga, Tech. Rep\|date=2010\|citeseerx=10.1.1.468.5407}}</ref>

Conversion between quaternions and Euler angles: Difference between revisions