I'm little bit confused. The Rotations are described by various means Direction Cosines Matrix (DCM); Euler Angles; Euler Axis/Angle; Quaternion.
What is the difference between them. How I can convert the orientation from one representation to another.
My question here: I have a the orientation of an object in terms of direction cosine vector. See the following figure; direction cosine - unit vector
Note that the vector
r makes angle alpha with x-axis, beta with y-axis and gamma with z-axis.
I want to represent this orientation in tearms of Quaternion. Is that possible? if yes, How we can represent this angles in terms of Quaternion (Axis,Angle,Matrix).
Thanks for the Help!.