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Conversion between quaternions and Euler angles: Difference between revisions

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m →Conversion: consistent quaternion notation
Line 43:
\end{bmatrix} =
\begin{bmatrix}
\mbox{atan} \frac {2(e_0q_0 e_1q_1 + e_2q_2 e_3q_3)} {1 - 2(e_1q_1^2 + e_2q_2^2)} \\
\mbox{asin} (2(e_0q_0 e_2q_2 - e_3q_3 e_1q_1)) \\
\mbox{atan} \frac {2(e_0q_0 e_3q_3 + e_1q_1 e_2q_2)} {1 - 2( e_2q_2^2 + e_3q_3^2)}
\end{bmatrix} </math>
 
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