Is it possible to find unique angles of rotations about the three principle axes from a transformation matrix (in their proper sequence too).

(Angles of rotation about principal axes {x,y,z} = Euler angles)

Given the transformation matrix, it is indeed possible to get possible combination of Euler angles. Problem is, each sequence (for eg Y-> X-> Z) will give at least 2 solutions. And even assuming that at least 3 rotations have taken place, there will still be 24 possible combinations.

So… Is it possible to somehow arrive at most optimal/simple/unique solution?

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Nevin Manimala

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