Composition of rotations
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Usually rotations are regarded around the three coordinate axes ,
and
and formulas are known to define the corresponding principal rotation matrices
,
and
.
As explained in the previous article Rotations using quaternions, a rotation around an axis defined by a unit vector about the angle
can be described by a quaternion
as follows:
describes a rotation around the
-axis by the angle
. The
-axis is defined by the unit vector
. So if this rotation should be presented as a quaternion,
has to equal
. Accordingly the three principal rotations can be described by the following quaternions:
Assume two rotations are composed as
If two rotations are applied on a vector , one rotation is executed first and then the second rotation is applied on the intermediate result
of the first rotation. Using rotation matrices this looks as follows:
The corresponding quaternions and
for the two rotations can be computed as explained above and in Rotations using quaternions. So the first quaternion rotation leads to
and is defined as
The second rotation is then applied to using the second quaternion
:
Since multiplication of quaternions is associative, the order in which the multiplications are solved is not important and does not influence the result. So each the two outer quaternions can be multiplied first:
Following the rule for the conjugate of a product of quaternions this leads to
Thus the rotation composed by the two rotations
and
is equivalent to a quaternion
equal to the product of the two corresponding quaternions
and
: