Representations of Rotations
We have seen that there are a variety of ways to represent rotations:
- as orthogonal matrices with determinant 1,
- by axis and rotation angle
- in quaternion algebra with versors and the map S3 → SO(3) (see quaternions and spatial rotations).
Another method is to specify an arbitrary rotation by a sequence of rotations about some fixed axes. See:
- Euler angles
See charts on SO(3) for further discussion.
Read more about this topic: Rotation Group SO(3)
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