Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 14:09, 28 November 2007

Revision as of 14:12, 28 November 2007

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\end{bmatrix}</math>

The [[orthogonal matrix]] corresponding to a rotation with Euler angles <math>\phi, \theta \, \psi</math>, with '''x-y-z''' convention, 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 \\