Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 22:07, 17 August 2005

Revision as of 14:14, 18 August 2005

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:<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 \\

\cos\theta \sin\psi & \cos\phi \cos\psi + \cossin\phi \sin\theta \sin\psi & -\sin\phi \cos\psi + \cos\phi \sin\theta \sin\psi \\

-\sin\theta & \sin\phi \cos\theta & \cos\phi \cos\theta \\

\end{bmatrix}</math>