# Conversion Between Quaternions and Euler Angles

Conversion Between Quaternions And Euler Angles

Spatial rotations in three dimensions can be parametrized using both Euler angles and unit quaternions. This article explains how to convert between the two representations. Actually this simple use of "quaternions" was first presented by Euler some seventy years earlier than Hamilton to solve the problem of magic squares. For this reason the dynamics community commonly refers to quaternions in this application as "Euler parameters".

Read more about Conversion Between Quaternions And Euler Angles:  Definition, Rotation Matrices, Relationship With Tait–Bryan Angles, Singularities

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Conversion Between Quaternions And Euler Angles - Singularities
... One must be aware of singularities in the Euler angle parametrization when the pitch approaches ±90° (north/south pole) ...

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