Lesson 7 : Quaternion

•  Quaternions

Quaternion is an alternative way for Euler angles, Axis/angle & Matrix to represente a 3 dimensional rotation.

Go to http://en.wikipedia.org/ to have some informations on how they works.
Keywords : Quaternion, Euler angles, Axis angle, Orthogonal matrix ...


Here is a convertor containing all formulas needed to switch from any of these represantations :

• Quaternion

• Euler angles (Roll, Pitch, Yaw)

• Axis/angle

• Transform matrix / Orthogonal matrix

If I got the time, I will write a little more ...