Rotation Group SO(3) - Representations of Rotations

Representations of Rotations

We have seen that there are a variety of ways to represent rotations:

  • as orthogonal matrices with determinant 1,
  • by axis and rotation angle
  • in quaternion algebra with versors and the map S3 → SO(3) (see quaternions and spatial rotations).

Another method is to specify an arbitrary rotation by a sequence of rotations about some fixed axes. See:

  • Euler angles

See charts on SO(3) for further discussion.

Read more about this topic:  Rotation Group SO(3)

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