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Rotation
around the x,
y,
and z
axes is given by:

These are special cases of the rotation equation.

Combined, the upper 3x3 submatrix looks like this:

What if you’re given a rotation matrix and want to know the angles?

There are**always at least two**
sets of angles that produce the same rotation matrix [Slabaugh 2001]

These are special cases of the rotation equation.

Combined, the upper 3x3 submatrix looks like this:

What if you’re given a rotation matrix and want to know the angles?

There are

High

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