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Feel free to use the materials and methods I have provided herein.  I ask:
1) If you make commercial use of these materials, please offer remuneration to me.
2) If you make academic and/or other non-commercial use, please acknowledge my contribution.
3) Notify me of your use of the materials.

Resume'

Quaternion Training
A set of basic training slides providing an introduction to quaternions.

Quaternion to Euler Angle Conversion
Unpublished paper; covers all twelve Euler Angle rotation sequences

Euler Angle to Quaternion Conversion
White paper explaining the conversion; covers all twelve Euler Angle rotation sequences

Quaternion to Direction Cosine Matrix (Rotation Matrix) Conversion
White paper explaining the conversion

Direction Cosine Matrix to Quaternion Conversion

 

Please contact me with comments, questions, etc.  (link at top of page)