3.3 Axis-Angle Representations of Rotation

As observed in Section 3.2, 3D rotation is complicated for several reasons: 1) Nine matrix entries are specified in terms of only three independent parameters, and with no simple parameterization, 2) the axis of rotation is not the same every time, and 3) the operations are noncommutative, implying that the order of matrices is crucial. None of these problems existed for the 2D case.

Steven M LaValle 2020-11-11