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A direct formula for the conversion from a quaternion to Euler angles in any of the 12 possible sequences exists. [2] For the rest of this section, the formula for the sequence Body 3-2-1 will be shown. If the quaternion is properly normalized, the Euler angles can be obtained from the quaternions via the relations:
The Euler angles are three angles introduced by Leonhard Euler to describe the orientation of a rigid body with respect to a fixed coordinate system. [ 1 ] They can also represent the orientation of a mobile frame of reference in physics or the orientation of a general basis in three dimensional linear algebra .
The angle θ which appears in the eigenvalue expression corresponds to the angle of the Euler axis and angle representation. The eigenvector corresponding to the eigenvalue of 1 is the accompanying Euler axis, since the axis is the only (nonzero) vector which remains unchanged by left-multiplying (rotating) it with the rotation matrix.
This explains why, for example, the Euler angles appear to give a variable in the 3-torus, and the unit quaternions in a 3-sphere. The uniqueness of the representation by Euler angles breaks down at some points (cf. gimbal lock), while the quaternion representation is always a double cover, with q and −q giving the same rotation.
Every non-trivial rotation is determined by its axis of rotation (a line through the origin) and its angle of rotation. Rotations are not commutative (for example, rotating R 90° in the x-y plane followed by S 90° in the y-z plane is not the same as S followed by R ), making the 3D rotation group a nonabelian group .
In three dimensions, angular displacement is an entity with a direction and a magnitude. The direction specifies the axis of rotation, which always exists by virtue of the Euler's rotation theorem; the magnitude specifies the rotation in radians about that axis (using the right-hand rule to determine direction). This entity is called an axis-angle.