Hi. How can I convert quaternions in Euler angles (roll, pitch and yaw) around X,Y and Z axes

-- Marko Vrh (markovrh@volja.net), September 22, 2004

Answers

Hello Marko:

I don't think you _should_ do this. Everyone flying rockets uses quaternions for 3D rotations in their software for two reasons: it avoid bogus poles where the transformations lock up, and errors that appear in the rotation matrix due to limits on computational precision can be more easily managed (make that matrix unitary again).

There is no universal Euler matrix. Instead there are many different conventions used. You will have to look over the details carefully. I would consult this paper to address your question:

http://world.std.com/%7Esweetser/quaternions/ps/stanfordaiwp79-salamin.ps.gz

Good luck, doug

-- Doug Sweetser (sweetser@alum.mit.edu), November 28, 2004.