Dear all,
I was not aware of this discussion, when I also ran into confusion. Finally, I figured it out myself and
wrote a summary. Perhaps it is useful for somebody:
http://www.biozentrum.unibas.ch/personal/schirmer/modtrafo_html/rotation.html
I fully agree with the final comments by Ian and Sacha.
The comment is part of the documentation for my program MODTRAFO, a collection of jiffy programs
dealing basically with models and transformations. The platform allows e.g. to create easily rotation
matrices from polar or Eulerian angles or, vice versa, to analyze a transformation for its angular
components.
Best,
Tilman
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