| Parameterizing
rotations |
|
|
|
|
|
|
|
|
| How do we
parameterize R and ΔR? |
|||||||
| • | Euler
angles: bad idea |
||||||
| • | quaternions:
4-vectors on unit sphere |
||||||
| • | use incremental
rotation R(I + DR) |
||||||
| • | update with
Rodriguez formula |
||||||
