Mathematics Stack Exchange is a question and answer site for people studying math at any level and professionals in related fields. Join them; it only takes a minute:

Sign up
Here's how it works:
  1. Anybody can ask a question
  2. Anybody can answer
  3. The best answers are voted up and rise to the top

I'm trying to calculate a desired pair of pitch and roll Euler angles (the XY in ZXY format) given a desired z-axis of the rotated frame (expressed in the world frame) and a specified yaw angle (rotation about the Z axis).

I've played around with the math but I can't seem to get a nice expression for them. Any ideas?

enter image description here

share|cite|improve this question

Your Answer


By posting your answer, you agree to the privacy policy and terms of service.

Browse other questions tagged or ask your own question.