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Reverted my own change. I misunderstood the meaning of alpha. |
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:<math>\mathbf{q} = \begin{bmatrix} q_0 & q_1 & q_2 & q_3 \end{bmatrix}^T</math>
:<math>|\mathbf{q}|^2 = q_0^2 + q_1^2 + q_2^2 + q_3^2 = 1</math>
We can associate a quaternion to a rotation around an axis by the following expression
:<math>\mathbf{q}_0 = \cos(\alpha/2)</math>
:<math>\mathbf{q}_1 = \sin(\alpha/2)\cos(\beta_x)</math>
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