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A simple way to calculate the mean of a series of angles (in the interval [0°, 360°)) is to calculate the mean of the cosines and sines of each angle, and obtain the angle by calculating the inverse tangent. Consider the following three angles as an example: 10, 20, and 30 degrees.
A direct formula for the conversion from a quaternion to Euler angles in any of the 12 possible sequences exists. [2] For the rest of this section, the formula for the sequence Body 3-2-1 will be shown. If the quaternion is properly normalized, the Euler angles can be obtained from the quaternions via the relations:
Now every quaternion component appears multiplied by two in a term of degree two, and if all such terms are zero what is left is an identity matrix. This leads to an efficient, robust conversion from any quaternion – whether unit or non-unit – to a 3 × 3 rotation matrix. Given:
Interpolation is the process of finding a function which goes through some given data points. For trigonometric interpolation, this function has to be a trigonometric polynomial, that is, a sum of sines and cosines of given periods. This form is especially suited for interpolation of periodic functions.
One radian is defined as the angle at the center of a circle in a plane that subtends an arc whose length equals the radius of the circle. [6] More generally, the magnitude in radians of a subtended angle is equal to the ratio of the arc length to the radius of the circle; that is, =, where θ is the magnitude in radians of the subtended angle, s is arc length, and r is radius.
The haversine formula determines the great-circle distance between two points on a sphere given their longitudes and latitudes. Important in navigation , it is a special case of a more general formula in spherical trigonometry , the law of haversines , that relates the sides and angles of spherical triangles.
The angle θ and axis unit vector e define a rotation, concisely represented by the rotation vector θe.. In mathematics, the axis–angle representation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector e indicating the direction of an axis of rotation, and an angle of rotation θ describing the magnitude and sense (e.g., clockwise) of the ...
In the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO(3) , the group of all rotation matrices ...