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Line 1: Spatial rotations in three dimensions can be [[Coordinate system\|parametrized]] using both [[Euler angles]] and [[Quaternions and spatial rotation\|unit quaternions]]. This article explains how to convert between the two representations. Actually this simple use of "quaternions" was first presented by [[Leonhard Euler\|Euler]] some seventy years earlier than [[William Rowan Hamilton\|Hamilton]] to solve the problem of [[~~Magic~~magic square~~\|magic squares~~]]s. For this reason the dynamics community commonly refers to quaternions in this application as "Euler parameters". A unit quaternion can be described as:

Conversion between quaternions and Euler angles: Difference between revisions