Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 23:56, 27 May 2005

Revision as of 23:58, 27 May 2005

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* Roll - <math>\phi</math>: rotation about the X-axis

* Pitch - <math>\theta</math>: rotation about the Y-axis

* Yaw - <math>\psi</math>: rotation about the Z-axis

where the X-axis points forward, Y-axis to the right and Z-axis downward

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\end{bmatrix}</math>

The [[orthogonal matrix]] corresponding to a rotation with Euler angles <math>\phi, \theta \, and\, \psi</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 \\