欧拉角(旋转)课程.pptVIP

Rotation Representations Rotations Differ from Translations Rotations are non-Euclidean like travelling on a globe vs. a grid Rotations are not commutative x-rotate, y-rotate is not equal y-rotate, x-rotate etc. Rotations are non-linear true of all parameterizations other than trivial SO(3) Rotation Parameterization Represent rotation space in Euclidean R3 e.g. Euler angles, exponential map Pros three parameters for three DOFs Cons singularities, potentially poor interpolation Rotation Parameterization non-Euclidean space e.g. unit quaternions (S3) Pros singularity free Cons must take ex