Re: Euler rotation angles

*To*: mathgroup at smc.vnet.net*Subject*: [mg46745] Re: Euler rotation angles*From*: Jens-Peer Kuska <kuska at informatik.uni-leipzig.de>*Date*: Fri, 5 Mar 2004 01:46:49 -0500 (EST)*Organization*: Universitaet Leipzig*References*: <c26gc5$e28$1@smc.vnet.net>*Reply-to*: kuska at informatik.uni-leipzig.de*Sender*: owner-wri-mathgroup at wolfram.com

Hi, suppose you have build from the angle alpha and the rotation axes n={nx,ny,nz} (with |n|=1) the quaternion q={q[0],q[1],q[2],q[3]}={Cos[alpha/2],Sin[alpha/2] nx,Sin[alpha/2] ny,Sin[alpha/2] nz} than your Euler angels are: phi=ArcTan[2 (q[2] q[3]+q[0] q[1]),(q[0]^2-q[1]^2-q[2]^2+q[3]^2)] theta=ArcSin[-2 (q[1] q[3] - q[0] q[])] psi=ArcTan[2 (q[1] q[2]+q[0] q[3]),(q[0]^2+q[1]^2-q[2]^2-q[3]^2)] Regards Jens "S. Campbell" wrote: > > Hi, > > 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? > > Cheers, > > Sam