• Corpus ID: 12864156

Nonsingular Efficient Modeling of Rotations in 3-space using three components

@article{Goldstein2010NonsingularEM,
  title={Nonsingular Efficient Modeling of Rotations in 3-space using three components},
  author={J. Goldstein},
  journal={ArXiv},
  year={2010},
  volume={abs/1005.4661}
}
This article introduces yet another representation of rotations in 3-space. The rotations form a 3-dimensional projective space, which fact has not been exploited in Computer Science. We use the four affine patches of this projective space to parametrize the rotations. This affine patch representation is more compact than quaternions (which require 4 components for calculations), encompasses the entire rotation group without singularities (unlike the Euler angles and rotation vector approaches… 
1 Citations
Time integration of rigid bodies modelled with three rotation parameters
Three rotation parameters are commonly used in multibody dynamics or in spacecraft attitude determination to represent large spatial rotations. It is well known, however, that the direct time

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