Rotation error representation

Parents: rotations-so3-group-index , quaternion-index
See also:  Orientation parametrisations , which orientation parametrisation to-choose?

Source: Markley 2014

Note:

• Only for small angle approximations!
• all these representations are equivalent through second order as

In terms of…

Rotation vector

Quaternions

Euler angles

Use upper sign  if {i,j,k} even permutation of {1,2,3}, lower sign otherwise

gibbs-rodrigues-parameter . MRPs. etc.