1
vote
0answers
74 views

Polynomial function from $S^3$ to $S^3$ and quaternions

I am searching the polynomial functions from $S^3$ to $S^3$. We say $g$ is a polynomial function from $S^3$ to $S^3$, if there exists $f_1,f_2,f_3,f_4 \in \mathbb{R}[X_1,X_2,X_3,X_4]$ and ...
5
votes
3answers
3k views

Euler angles and gimbal lock

Can someone show mathematically how gimbal lock happens when doing matrix rotation with Euler angles for yaw, pitch, roll? I'm having a hard time understanding what is going on even after reading ...