Quaternion to Euler Angle Conversion for Arbitrary Rotation Sequence Using Geometric Methods

Abstract

Nomenclature = normalized Euler rotation axis i<1-3> = indices of first, second and third Euler rotation, e.g. if rotation sequence is 3-2-1, i1 is 3, i2 is 2, and i3 is 1 i<1-3>n = next circular index following i<1-3>, e.g. if i2 = 3, i2n = 1 i<1-3>nn = next circular index following i<1-3>n, e.g. if i2n = 3, i2nn = 2 = Quaternion = = operator: rotation of… (More)

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