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## Main Question or Discussion Point

Only recently started to understand Euler angles and rotation matrices, and I am reasonably comfortable with the concepts already posted here. I am pretty sure I am missing something obvious, but I cannot figure out the way to solve this problem:

A body in 3D space with a orientation defined by yaw, pitch, roll angles. I know how to rotate any (X,Y,Z) point between the inertial frame and body frame using the rotation matrices. The problem I have is:

If I rotate the body with respect to the body frame, how do I calculate the equivalent rotation with respect to the inertial frame?

A body in 3D space with a orientation defined by yaw, pitch, roll angles. I know how to rotate any (X,Y,Z) point between the inertial frame and body frame using the rotation matrices. The problem I have is:

If I rotate the body with respect to the body frame, how do I calculate the equivalent rotation with respect to the inertial frame?