Conversion between quaternions and Euler angles: Difference between revisions

Revision as of 09:41, 26 September 2005

Revision as of 09:43, 26 September 2005

Line 41:

\end{bmatrix}</math>

where <math>\cos_2 \alpha \,</math> is a notational shortcut for <math>\cos \frac{\alpha}{2}</math>, and <math>\sin_2 \alpha \,</math> for <math>\sin \frac{\alpha}{2}</math>. And for Euler angles we get:

:<math>\begin{bmatrix}

Line 47:

\end{bmatrix} =

\begin{bmatrix}

\mbox{atanarctan} \frac {2(q_0 q_1 + q_2 q_3)} {1 - 2(q_1^2 + q_2^2)} \\

\mbox{asinarcsin} (2(q_0 q_2 - q_3 q_1)) \\

\mbox{atanarctan} \frac {2(q_0 q_3 + q_1 q_2)} {1 - 2(q_2^2 + q_3^2)}

\end{bmatrix} </math>