1. > Right handed, z forward through the nose and x through the left ear.
Interesting, in aviation engineering the convention is different: the body frame has x forward (positive rotation around x is right roll), y to the right (... pitch up), z down (... right yaw).
2. The best reference (reference, not explanation/textbook) for this whole spiel (rotation matrices, Euler angles, quaternions) I've seen is a paper by Diebel, Representing attitude: Euler angles, unit quaternions, and rotation vectors
1. > Right handed, z forward through the nose and x through the left ear.
Interesting, in aviation engineering the convention is different: the body frame has x forward (positive rotation around x is right roll), y to the right (... pitch up), z down (... right yaw).
2. The best reference (reference, not explanation/textbook) for this whole spiel (rotation matrices, Euler angles, quaternions) I've seen is a paper by Diebel, Representing attitude: Euler angles, unit quaternions, and rotation vectors
https://www.astro.rug.nl/software/kapteyn-beta/_downloads/at...
(Or maybe I like it because "Diebels Alt" is my favourite local beer... https://en.wikipedia.org/wiki/Altbier)