Talk:PlanetPhysics/Euler 321 Sequence

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For more info on Euler Sequences, notation and convention see the generic entry on \htmladdnormallink{Euler angle sequences}{http://planetphysics.us/encyclopedia/EulerAngleSequence.html}. \\

$ R_{321}(\phi, \theta, \psi) = R_1(\psi) R_2(\theta) R_3(\phi) $ \\

The rotation \htmladdnormallink{matrices}{http://planetphysics.us/encyclopedia/Matrix.html} are

\begin{equation} R_1(\psi) = \left[ \begin{array}{ccc} 1 & 0 & 0 \\ 0 & c_{\psi} & s_{\psi} \\ 0 & -s_{\psi} & c_{\psi} \end{array} \right] \end{equation}

\begin{equation} R_2(\theta) = \left[ \begin{array}{ccc} c_{\theta} & 0 & -s_{\theta} \\ 0 & 1 & 0 \\ s_{\theta} & 0 & c_{\theta} \end{array} \right] \end{equation}

\begin{equation} R_3(\phi) = \left[ \begin{array}{ccc} c_{\phi} & s_{\phi} & 0 \\ -s_{\phi} & c_{\phi} & 0 \\ 0 & 0 & 1 \end{array} \right] \end{equation}

Carrying out the \htmladdnormallink{matrix multiplication}{http://planetphysics.us/encyclopedia/Matrix.html} from right to left \\

$ R_2(\theta)R_3(\phi) = \left[ \begin{array}{ccc} c_{\theta} & 0 & -s_{\theta} \\ 0 & 1 & 0 \\ s_{\theta} & 0 & c_{\theta} \end{array} \right] \left[ \begin{array}{ccc} c_{\phi} & s_{\phi} & 0 \\ -s_{\phi} & c_{\phi} & 0 \\ 0 & 0 & 1 \end{array} \right] = \left[ \begin{array}{ccc} c_{\theta} c_{\phi} & c_{\theta} s_{\phi} & -s_{\theta} \\ -s_{\phi} & c_{\phi} & 0 \\ s_{\theta} c_{\phi} & s_{\theta} s_{\phi} & c_{\theta} \end{array} \right] $ \\

Finaly leaving us with the Euler 321 sequence \\

$ R_1(\psi)R_2(\theta)R_3(\phi) = \left[ \begin{array}{ccc} c_{\theta} c_{\phi} & c_{\theta} s_{\phi} & -s_{\theta}  \\ - c_{\psi} s_{\phi} + s_{\psi} s_{\theta} c_{\phi} & c_{\psi} c_{\phi} + s_{\psi} s_{\theta} s_{\phi} & s_{\psi} c_{\theta} \\ s_{\psi} s_{\phi} - c_{\psi} s_{\theta} c_{\phi} & -s_{\psi} c_{\phi} + c_{\psi} s_{\theta} s_{\phi} & c_{\psi} c_{\theta}  \end{array} \right] $

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