- RM = rotation matrix
- EULER = Euler angles
- AA = Axis-Angle representation
- QUAT = Quaternions

RM | EULER | AA | QUAT | |
---|---|---|---|---|

Human readable? | - | + | + | - |

Minimal? | - | + | - | - |

Enforcing constraints? (e.g. joint limits) | - | + | - | - |

Can directly rotate a vector with? | + | - | + | + |

Can concatentate rotations? | + | - | - | + |

Gimbal lock? | + | - | + | + |

Singularities? | + | - | + | + |

Can easily interpolate between two rots? | - | - | - | + |

Explanations:

- Human readable?: do the values make some sense for a human?
- Minimal?: for a 3DOF rotation, 3 scalar values are minimal
- Enforcing constraints?: e.g. limit some DOF to some range (angle1,angle2)
- Can concatenate rotations?: can we concatenate directly two rotation representations to get the total one?
- Can directly rotate a vector with?: e.g. for Euler angles you first have to convert them to a rotation matrix, to rotate a vector. E.g. Rodrigues rotation formula for AA representation
- Gimbal lock?: loss of 1 DOF for rotation if two axes align (only the case for Euler)
- Singularities?: can the values suddenly jump from -PI, to PI and vice versa?
- Can easily interpolate between two rots?: E.g. using SLERP for quaternions

public/rotation_representations.txt · Last modified: 2014/01/19 12:19 (external edit) · []