Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 14:14, 18 August 2005

Revision as of 09:41, 26 September 2005

Line 24:

\end{bmatrix}</math>

The [[orthogonal matrix]] corresponding to a rotation with Euler angles <math>\phi, \theta \, and\, \psi</math>, 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 \\