- ...matrixfaq.
![[*]](footnote.png)
- Note the bold-italic
(vectors) and bold (matrices) notation. The conversion between
vector representations, i.e., Euler angles, and matrix
representations is done by algorithms from [8].
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- ...
![$ R$.$](img85.png)
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If
(sum of the diagonal terms) is
zero, the above calculation has to be altered: Iff
and
then,
otherwise the quaternion
is calculated as
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