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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:
3D visualization of a sphere and a rotation about an Euler axis (^) by an angle of In 3-dimensional space, according to Euler's rotation theorem, any rotation or sequence of rotations of a rigid body or coordinate system about a fixed point is equivalent to a single rotation by a given angle about a fixed axis (called the Euler axis) that runs through the fixed point. [6]
A quaternion of the form a + 0 i + 0 j + 0 k, where a is a real number, is called scalar, and a quaternion of the form 0 + b i + c j + d k, where b, c, and d are real numbers, and at least one of b, c, or d is nonzero, is called a vector quaternion.
Rotation formalisms are focused on proper (orientation-preserving) motions of the Euclidean space with one fixed point, that a rotation refers to.Although physical motions with a fixed point are an important case (such as ones described in the center-of-mass frame, or motions of a joint), this approach creates a knowledge about all motions.
Euler's formula is ubiquitous in mathematics, physics, chemistry, and engineering. The physicist Richard Feynman called the equation "our jewel" and "the most remarkable formula in mathematics". [2] When x = π, Euler's formula may be rewritten as e iπ + 1 = 0 or e iπ = −1, which is known as Euler's identity.
The quaternion formulation of the composition of two rotations R B and R A also yields directly the rotation axis and angle of the composite rotation R C = R B R A. Let the quaternion associated with a spatial rotation R is constructed from its rotation axis S and the rotation angle φ this axis. The associated quaternion is given by,
The rotation is described by four Euler parameters due to Leonhard Euler. The Rodrigues' rotation formula (named after Olinde Rodrigues ), a method of calculating the position of a rotated point, is used in some software applications, such as flight simulators and computer games .
Euler's theorem and its proof are contained in paragraphs 24–26 of the appendix (Additamentum. pp. 201–203) of L. Eulero (Leonhard Euler), Formulae generales pro translatione quacunque corporum rigidorum (General formulas for the translation of arbitrary rigid bodies), presented to the St. Petersburg Academy on October 9, 1775, and first ...