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I know a rotation matrix (or quaternion) of a body in starting position and in end position. The body was tilted in between around three vectors which are known. Is there a way to estimate the angles the body was tilted around these vectors just by knowing the end orientation of the body?

Horia Coman
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dgrat
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1 Answers1

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If body rotation is limited in given time period (for example, it does not accomplish two turnovers etc) and direction changes smoothly, then you can consider using of SLERP - spherical linear interpolation.

If you have initial tilt vector p0 (consisting of direction cosines) and ending p1, you can use geometric SLERP to get direction cosines as components of interpolated direction vector

MBo
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  • I think this will not give me the x,y,z angles of each axis, but just the intermediate rotation quaternion – dgrat May 15 '17 at 11:14
  • Thanks, is this approach working the same for three consecutive axis? – dgrat May 16 '17 at 07:46