Reference for rotations

Published articles

• "Fundamentals of Spacecraft Attitude Determination and Control" by Markley and Crassidis
  • See sections 2.1-2.9 for 3d rotation parametrization.
  • See sections 3.1-3.2 for kinematics.
• "Derivation of the Euler-Rodrigues formula for three-dimensional rotations from the general formula for four-dimensional rotations" by Johan Ernest Mebius
  • The conversion RotMatrix{3} to QuatRotaiton is based on this paper.
• "Computing Exponentials of Skew Symmetric Matrices And Logarithms of Orthogonal Matrices" by Jean Gallier and Dianna Xu
  • See this article for log and exp of rotation matrices in higher dimensions.

Wikipedia articles

• Rotation matrix
• Quaternion
• Wahba's problem
  • Wahba's problem is related to the nearest_rotation function.
• Polar decomposition
  • Polar decomposition is also related to the nearest_rotation function.

Others

• "Quaternions and 3d rotation, explained interactively" by 3Blue1Brown
• "Visualizing quaternions (4d numbers) with stereographic projection" by 3Blue1Brown