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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]
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 .
The field of complex numbers is also isomorphic to three subsets of quaternions.) [22] A quaternion that equals its vector part is called a vector quaternion. The set of quaternions is a 4-dimensional vector space over the real numbers, with { 1 , i , j , k } {\displaystyle \left\{1,\mathbf {i} ,\mathbf {j} ,\mathbf {k} \right\}} as a basis ...
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,
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.
Comment: The proof of Euler's four-square identity is by simple algebraic evaluation. Quaternions derive from the four-square identity, which can be written as the product of two inner products of 4-dimensional vectors, yielding again an inner product of 4-dimensional vectors: (a·a)(b·b) = (a×b)·(a×b).
The equation presented for conversion from Euler angles to Quaternion has several discontinuities that are not necessarily present in the Quaternions themselves. For instance, for the Euler angles (0,0,-180) and (0,0,180), the conversion would produce the quaternions (0,0,0,1) and (0,0,0,-1).