Modified Gibbs's representation of rotation matrix
arXiv:1703.00300 · doi:10.48550/arXiv.1703.00300
Abstract
A modified Gibbs's rotation matrix is derived and the connection with the Euler angles, quaternions, and CayleyKlein parameters is established. As particular cases, the Rodrigues and Gibbs parameterizations of the rotation are obtained. The composition law of two rotations from the quaternion representation is presented showing a convenient expression for calculating the successive rotations.
17 pages