http://robosub-vm.eecs.wsu.edu/wiki/ 2026-04-06T20:16:14-0700 http://robosub-vm.eecs.wsu.edu/wiki/ http://robosub-vm.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2018-04-29T11:25:40-0700 Anonymous (anonymous@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/localization/rotation/start?rev=1525026340&do=diff 3D Rotation Note: This section is currently under revision. 3D Rotation can be accomplished in a number of ways. Computer systems often favor Quaternions for certain mathematical properties. However Quaternions are not terribly easy for humans to interpret or understand specific values.$\psi, \phi,$$\theta$$\theta$$\phi$$\psi$$\begin{bmatrix} x,y,z \end{bmatrix}$$R_\psi$$$ R_\psi = \begin{bmatrix} 1 & 0 & 0 \\ 0 & cos(\psi) & -sin(\psi) \\ 0 & sin(\psi) & cos(\psi) \end{bmatrix} $$$R_\phi$$…