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:Basically, <math>\arcsin, \arccos</math> are not as numerically well-behaved as <math>\arctan2</math>, which is why we used this version when I updated the transformation code in https://scipy.org/. This is, in my opinion, still not the best version, as this needs the quaternion to be normalized beforehand and the (because of the summation with 1, etc).
:If you're interested, I showed how to get these equations on this open access paper: https://journals.plos.org/plosone/article?id=10.1371/journal.pone.0276302. Moreover, apart from Scipy, I also implemented it on Sympy, which can be useful if you want to play with the equations symbolically. [[User:Ebernardes|Ebernardes]] ([[User talk:Ebernardes|talk]]) 06:51, 12 October 2023 (UTC)
::Just a heads-up though: the first definitions on this paper have sadly a mistake, and I still didn't manage to make the editors correct it... [[User:Ebernardes|Ebernardes]] ([[User talk:Ebernardes|talk]]) 06:51, 12 October 2023 (UTC)
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