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https://issues.apache.org/jira/browse/MATH-847?page=com.atlassian.jira.plugin.system.issuetabpanels:comment-tabpanel&focusedCommentId=13436347#comment-13436347
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Gilles commented on MATH-847:
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Can we close this report?
> Using Rotation to convert Euler angles to Quaternions produces wrong results
> ----------------------------------------------------------------------------
>
> Key: MATH-847
> URL: https://issues.apache.org/jira/browse/MATH-847
> Project: Commons Math
> Issue Type: Bug
> Affects Versions: 3.0
> Environment: 1.6
> Reporter: M@ Dunlap
>
> import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
> import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder;
> public class temp {
> public static void main(String args[]) {
> Rotation r = new Rotation(RotationOrder.XYZ, -Math.PI / 2d, 0, 0);
> System.out.println("(" + r.getQ0() + " " + r.getQ1() + " " + r.getQ2() +
> " " + r.getQ3() + ")");
> }
> }
> Prints (0.707 0.707 0.0 0.0) (in-sig-figs elided), but when I type the same
> thing into Wolfram Alpha I get (.707 -.707 0 0) (note the negative) see:
> http://www.wolframalpha.com/input/?i=euler+angles&a=*C.euler+angles-_*Formula.dflt-&a=*FP.EulerRotation.EAS-_e123&f3=-pi%2F2+rad&f=EulerRotation.th1_-pi%2F2+rad&f4=0&f=EulerRotation.th2_0&f5=0&f=EulerRotation.th3_0
> One of the guys in the lab suggested that if Rotation is assuming the Euler
> angle is in a left-handed coordinate space this is an expected result, but if
> that's the case the question is, why is the less popular coordinate system
> the only option?
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