Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 23:33, 27 May 2005

Revision as of 23:34, 27 May 2005

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A unit quaternion can be described as:

:<math>\mathbf{q} = \begin{bmatrix} q_0 & q_1 & q_2 & q_3^2 \end{bmatrix}^T</math>

where

:<math>|\mathbf{q}|^2 = q_0^2 + q_1^2 + q_2^2 + q_3 = 1</math>