Euler–Rodrigues formula
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In mathematics and mechanics, the Euler–Rodrigues formula describes the rotation of a vector in three dimensions. It is based on Rodrigues' rotation formula, but uses a different parametrization.
The rotation is described by four Euler parameters due to Leonhard Euler. The Rodrigues formula (named after Olinde Rodrigues), a method of calculating the position of a rotated point, is used in some software applications, such as flight simulators and computer games.