Talk:PlanetPhysics/Axis Angle of Rotation to Quaternions

Original TeX Content from PlanetPhysics Archive
%%% This file is part of PlanetPhysics snapshot of 2011-09-01 %%% Primary Title: axis angle of rotation to quaternions %%% Primary Category Code: 45.40.-f %%% Filename: AxisAngleOfRotationToQuaternions.tex %%% Version: 3 %%% Owner: bloftin %%% Author(s): bloftin %%% PlanetPhysics is released under the GNU Free Documentation License. %%% You should have received a file called fdl.txt along with this file. %%% If not, please write to gnu@gnu.org. \documentclass[12pt]{article} \pagestyle{empty} \setlength{\paperwidth}{8.5in} \setlength{\paperheight}{11in}

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\begin{document}

Quaternions can be defined from the \htmladdnormallink{axis angle of rotation}{http://planetphysics.us/encyclopedia/AxisAngleOfRotation.html} by

\begin{equation} \left[ \begin{array}{c} q_1 \\ q_2 \\ q_3 \\ q_4 \end{array} \right] = \left[ \begin{array}{c} e_1 sin( \alpha /2 ) \\ e_2 sin( \alpha /2 )  \\ e_3 sin( \alpha /2 )  \\ cos( \alpha /2 )  \end{array} \right] \end{equation}

\end{document}