Quaternion conversion definitions

d[a_] := Sqrt[a . a] ;

RowBox[{RowBox[{quatSolve[r_], :=, <br />,     , RowBox[{Module, [, RowBox ... nbsp;      , t1}]}], , <br />,     , ]}]}], ;}]

quat2rot[q_] := <br />    Module[{x, y, z, w}, <br />   &nb ... r />        1 - 2 (x^2 + y^2)} // Partition[#, 3] &] ;

RowBox[{RowBox[{eulerAngles[r_, eps_:10^-6], :=, <br />,       & ... ], ]}], ;, <br />,         , List[a, b, g]}]}], ]}]}], ;}]

Created by Mathematica  (September 7, 2003)