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}
toQuatRotaiton
is based on this paper.
- The conversion
- "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.
- Wahba's problem is related to the
- Polar decomposition
- Polar decomposition is also related to the
nearest_rotation
function.
- Polar decomposition is also related to the