axis angle of rotation to quaternions

Quaternions can be defined from the axis angle of rotation by

$\displaystyle \left[ \begin{array}{c} q_1 \\ q_2 \\ q_3 \\ q_4 \end{array} \rig...
...in( \alpha /2 ) \\ e_3 sin( \alpha /2 ) \\ cos( \alpha /2 ) \end{array} \right]$ (1)



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