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Line 36: :<math> \mathbf{q} = \begin{bmatrix} \cos_2 \phi \cos_2 \theta \cos_2 \psi + \sin_2 \phi \sin_2 \theta \sin_2 \psi \\ \sin_2 \phi \cos_2 \theta \cos_2 \psi +- \cos_2 \phi \sin_2 \theta \sin_2 \psi \\ \cos_2 \phi \sin_2 \theta \cos_2 \psi + \sin_2 \phi \cos_2 \theta \sin_2 \psi \\ \cos_2 \phi \cos_2 \theta \sin_2 \psi +- \sin_2 \phi \sin_2 \theta \cos_2 \psi \\ \end{bmatrix}</math>

Conversion between quaternions and Euler angles: Difference between revisions