Having some issues regarding the Euler's angles. Following is the short description of them problem. In the first step, I determined the Euler's angles to invert my frame of reference that is X, Y and Z axes become -X, -Y and -Z respectively. I calculated the Euler's angles to be (135, 109.47, 45) in degrees for ZXZ scheme of transformation. Now I expect that transforming any vector by same Euler's angles will invert it. For example, if I transform (1, 1, 1) vector with Euler's angles (135, 109.47, 45), I should get the vector (-1, -1, -1), but I find that it remains unchanged

Seettiffrourfk6

Seettiffrourfk6

Answered question

2022-10-22

Having some issues regarding the Euler's angles. Following is the short description of them problem.
In the first step, I determined the Euler's angles to invert my frame of reference that is X, Y and Z axes become X, Y and Z respectively. I calculated the Euler's angles to be ( 135 , 109.47 , 45 ) in degrees for Z X Z scheme of transformation.
Now I expect that transforming any vector by same Euler's angles will invert it. For example, if I transform ( 1 , 1 , 1 ) vector with Euler's angles ( 135 , 109.47 , 45 ), I should get the vector ( 1 , 1 , 1 ), but I find that it remains unchanged.

Answer & Explanation

flasheadita237m

flasheadita237m

Beginner2022-10-23Added 17 answers

There is not single rotation that will invert all vectors. This is because the rotation preserved the components parallel to the rotation axis.
You know that three rotations about fixed axes (like Z Y Z) is equivalent to a single rotation about an arbitrary axis. In your case, you have
R = r o t ( z ^ , 135 ° ) r o t ( x ^ , 109.47122 ° ) r o t ( z ^ , 45 ° ) = | 1 3 2 3 2 3 2 3 1 3 2 3 2 3 2 3 1 3 |
The above is decomposed as follows:
angle θ = 180 ° axis g ^ = ( 1 3 1 3 1 3 ) quaternion q = cos ( π 2 ) + sin ( π 2 ) g ^ = g ^
So your Euler angles results in a rotation of 180 about an axis parallel to ( x = 1 y = 1 z = 1 ) . As a result, the components along this axis are not affected by the rotation.
Here are some examples of parallel and perpendicular vectors
| 1 3 2 3 2 3 2 3 1 3 2 3 2 3 2 3 1 3 | ( 1 1 1 ) = ( 1 1 1 )
| 1 3 2 3 2 3 2 3 1 3 2 3 2 3 2 3 1 3 | ( 1 1 0 ) = ( 1 1 0 )
| 1 3 2 3 2 3 2 3 1 3 2 3 2 3 2 3 1 3 | ( 0 1 1 ) = ( 0 1 1 )

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