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  • Conversion of Quaternions to Euler angles

    Dear all,

    Following on from all the angle calculation stuff, someone just brought
    my attention to another problem:

    In this page that I made some time ago, I provide a method for
    conversion between quaternion representation and Euler angles (from
    Kuipers JB 1999):

    http://www.univie.ac.at/cga/faq/angles.html

    tan(yaw) = 2(q1q2+q4q3) / (q42 + q12 - q22 - q32)
    sin(pitch) = -2(q1q3-q4q2)
    tan(roll) = 2(q4q1+q2q3)/ (q42 - q12 - q22 + q32)

    These equations fail when, e.g., the pitch angle is 90 degrees. Is this
    just the inherent problem of Euler angle gimbal lock, or is there a way
    round it?

    Chris
    --
    Dr. Chris Kirtley MD PhD
    Associate Professor
    Dept. of Biomedical Engineering
    Catholic University of America
    620 Michigan Ave NE, Washington, DC 20064
    Tel. 202-319-6247, fax 202-319-4287
    Email: kirtley@cua.edu
    http://engineering.cua.edu/biomedical/faculty/kirtley

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