Notebook on Quaternion to Euler Angles

After a night of clean-up,  a little, targeted paper, deriving the equations for transform between quaternions and Euler angles, found its way here in our exmakhina/xm_notebooks GitHub repository of notebooks.

The context:

  • Quaternions and Euler angles are used to describe 3D orientations/rotations/frame transforms and depending on the application there are several conventions that can lead to a serious confusion.
  • So instead of dumping a random formula and not providing the convention, this paper highlights how it is critical to well specify the used conventions, and then goes to automagically find the appropriate formula, thanks to the sympy symbolic computation library.