[ODE] quat to eulerXYZ

SJS ode at pulsecode.net
Sat Jun 25 13:46:32 MST 2005

> What you probably want is:
> eulers at time A and B -> quats at time A and B -> "delta quat" (qB * ~qA)
> -> axis-angle of delta quat (angle is scalar angular velocity around axis)
> the vector form of the instantaneous velocity is (axis*angle) of that
> axis-angle extracted from the delta quaternion.

oops, forgot time-- the angular velocity will be


Stephen Schlueter
sschluet at alum.mit.edu

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