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Re: Euler rotation angles

Mathematica can find a set of angles but the rotations are not unique


vec1 = {1, 2, 3};

vec2 = Rotate3D[vec1, .25, .1, .4];

eqn=Thread[Rotate3D[vec1, phi,theta,psi] == vec2];

soln=FindRoot[eqn, {{phi, .1, .2}, {theta, .2, .3}, {psi, .3, .4}}]

{phi -> -1.3171, 
  theta -> 0.112368, psi -> 1.78946}

(Rotate3D[vec1, phi, theta, psi]-vec2) /. soln // Chop


Bob Hanlon

In article <c26gc5$e28$1 at>, sam_campbell at (S. Campbell)

<< Can anyone help me with the following? I have two vectors, one rotated
with respect to the other, and I wish to find the Euler rotation
angles that connect the vectors. Can mathematica tell me what the
required angles are?

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