Euler angles and axis angle relationship corrected.
0) Different notations for Euler angles:
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1) From Euler angles (
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) to axis angle (
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x y z):
See
http://prt.fernuni-hagen.de/lehre/KURSE/PRT001/course_main_sh3d/node10.html
Euler matrix is:
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,,, zRxRzRR
E
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Notation:
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angleaxisR ,
Let find angle
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from the trace:
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,,,,,, zRzRxRTrzRxRzRTrRTr
E
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=
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100
0cossin
0sincos
cossin0
sincos0
001
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Tr
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coscoscoscos ������
In previous doc file was error because cross product is not directed along the axis. It directed
along the axis only if test vector perpendicular to axis.
