# Practical Parameterization of Rotations Using the Exponential Map

@article{Grassia1998PracticalPO,
title={Practical Parameterization of Rotations Using the Exponential Map},
author={F. Grassia},
journal={J. Graphics, GPU, & Game Tools},
year={1998},
volume={3},
pages={29-48}
}
• F. Grassia
• Published 1998
• Mathematics, Computer Science
• J. Graphics, GPU, & Game Tools
Parameterizing three degree-of-freedom (DOF) rotations is difficult to do well. Many graphics applications demand that we be able to compute and differentiate positions and orientations of articulated figures with respect to their rotational (and other) parameters, as well as integrate differential equations, optimize rotation parameters, and interpolate orientations. Widely used parameterizations such as Euler angles and quaternions are well suited to only a few of these operations. The… Expand
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