Extracting Euler Angles from a Rotation Matrix
نویسنده
چکیده
We’ll follow the notational conventions of Shoemake’s “Euler Angle Conversion”, Graphics Gems IV, pp. 222-9, with the exception that our vectors are row vectors instead of column vectors. Thus, all our matrices are transposed relative to Shoemake’s, and a sequence of rotations will be written from left to right. We’ll simplify the discussion by ignoring the various possible axis permutations, and will instead focus on one particular order of applying rotations to illustrate the problem.
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