Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 14:12, 28 November 2007

Revision as of 14:14, 28 November 2007

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== Rotation matrices ==

[[Image:Euler.png|right|thumb|200px|Euler angles - The xyz (fixed) system is shown in blue, the XYZ (rotated) system is shown in red. The line of nodes, labelled N, is shown in green.]]

The [[orthogonal matrix]] corresponding to a rotation by the unit quaternion '''q''' is given by

:<math>\begin{bmatrix}