A Tutorial on Euler Angles and Quaternions
Construct two right triangles: (1) Drop the perpendicular from A0to the x-axis to form the right triangle 4OA0C; (b) Construct a line through A0parallel to the x-axis and a line through B0parallel to the y-axis. They intersect at C0to form the right triangle 4B0A0C0. Since A0C0is parallel to CO, 6C0A0O = 6A0OC = q. 6OA0B0is a right angle and ...
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