Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 23:48, 27 May 2005

Revision as of 23:56, 27 May 2005

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\end{bmatrix}</math>

The [[orthogonal matrix]] corresponding to a rotation with Euler angles <math>\phi (roll), \theta (pitch) and \psi (yaw)</math>, is given by

:<math>\begin{bmatrix}

cos\theta cos\psi & -cos\phi sin\psi + sin\phi sin\theta cos\psi & sin\phi sin\psi + cos\phi sin\theta cos\psi \\