By: Andy Goldstein
 andygoldstein 
Martin, I've worked
through the Euler angle and quaternion pages, and the related transformations
in detail, and I have some major corrections for the Euler angles page.
I also have detailed derivations for some of the Euler/quaternion transformations.
All this is written up as a Word document with liberal use of the equation
editor. What's the best way to get this to you? 
By: Martin Baker  martinbaker 
Andy, 
By: Michaele Norel
 minorlogic 
Hi Martin ! 
By: Martin Baker  martinbaker 
Hi minorlogic, 
By: Andy Goldstein
 andygoldstein 
Well, there's a fundamental
problem here. For the two angles that are computed as ATANs, k cancels
out because we're dividing one set of terms from the quaternion by another.
That's a happy coincidence in the rotation matrix you get from Euler angles
(in https://www.euclideanspace.com/maths/geometry/rotations/euler/index.htm . 
By: Andy Goldstein
 andygoldstein 
After another 10 minutes
thought... 
By: Martin Baker  martinbaker 
Andy, 
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