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Calculation of Euler angles for a given frame.

Algorithm description with C program implementation.

The common transformation task using Euler angles consists of 3 rotations:

1. Rotate around Z1 axis local coordinate system (LCS) by angle α.

2. Rotate around transformed X1 axis (X’ on Fig) by angle β.

3. Rotate around transformed Z1 axis by angle .

The angles α, β,  are called precession, nutation and rotation respectively.

The presented algorithm allows obtaining Euler angles for transformation zero-based orthogonal LCS into world coordinate system (WCS).




arc2bez.pdf - Fit arc of defined radius into two Bezier segments.