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Euler Angles

Input values

Euler rotation sequence | yaw-pitch-roll (3-2-1)
first rotation | 30° (degrees)
second rotation | 15° (degrees)
third rotation | 20° (degrees)

Direction cosine matrix

C=(0.837 | 0.483 | -0.259
-0.393 | 0.858 | 0.330
0.382 | -0.175 | 0.908)

Principal rotation parameters

Φ | 36.8° (degrees)
e^^ | (0.422
0.535
0.732)

Euler parameters (quaternions)

β_0 | 0.949
β_1 | 0.133
β_2 | 0.169
β_3 | 0.231

Cayley-Klein parameters

α | 0.949 + 0.231 i
β | -0.169 + 0.133 i
γ | 0.169 + 0.133 i
δ | 0.949 - 0.231 i

Classical Rodrigues Parameters

q_1 | 0.140
q_2 | 0.178
q_3 | 0.243

Modified Rodrigues Parameters

σ_1 | 0.0683
σ_2 | 0.0866
σ_3 | 0.118