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EulerMultiply[epars1, epars2, ... ] returns a list of two (2D) or four (3D) Euler parameters corresponding to the result of two or more sequential rotations represented by epars1, epars2, etc. The function of EulerMultiply is analogous to the noncommutative multiplication of rotation matrices.

EulerMultiply is substantially more efficient than converting two sets of Euler parameters to rotation matrices, multiplying them, and converting the result back to a set of Euler parameters.
• See also:
EulerInverse, EulerParameters.

Further Examples

Load the Modeler3D package.

Here are a pair of arbitrary rotations about arbitrary axes. They can be converted to Euler parameters or rotation matrices and multiplied, and then converted back to rotations with the same result.

However, multiplying Euler parameters is computationally inexpensive.

The inversion of a rotation matrix (which is equivalent to transposing the matrix) is analogous to negating all but the first Euler parameter.

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