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Thank you. [[User:WinterSpw|WinterSpw]] ([[User talk:WinterSpw|talk]]) 15:20, 5 July 2016 (UTC)
:I think that the first formula is irrelevant to this article -- it isn't needed to derive the second formula and otherwise belongs to the rotation matrices article. I removed that one. The second one is really a straight forward bracket opening -- I doubt that the article would benefit from showing that. [[User:Ybungalobill|bungalo]] ([[User talk:Ybungalobill|talk]]) 21:13, 30 April 2017 (UTC)
I would have appreciated this matrix being available; then I wouldn't have felt so far out in left field.
This is the gist of getting the basis..(implemented in JS) https://gist.github.com/d3x0r/9ffea1d55f079b8ce4d958ddf0ad6d0c ; what I ended up implementing was to take base vectors (1,0,0),(0,1,0),(0,0,1) and apply a standard quaternion rotation to them. to get a basis representation for the quaterion (really angle-angle-angle 0 log-quaternion) ...
I end up with the same answer as you. Which, overall, to get the basis becomes less work than rotating a single point (although if you do something silly like then apply the matrix to rotate you're back to even more work).
It did let me figure out there is a Bertrand curve https://en.wikipedia.org/wiki/Differentiable_curve#Bertrand_curve for yaw/pitch/roll operations on quaterions that leave one of the basis vectors constant... all other rotations lie in a plane... as demonstrated here... https://d3x0r.github.io/STFRPhysics/3d/index.html (this sort of explains the demo, and what it is I'm trying to show/you should be seeing ) https://github.com/d3x0r/STFRPhysics/blob/master/Curvature.md ...
[[User:D3x0r|D3x0r]] ([[User talk:D3x0r|talk]]) 07:30, 8 July 2020 (UTC)
== Error in rotation matrix formula ? ==
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