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\chapter{\label{chapt:intro}Introduction and Theoretical Background} |
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\chapter{\label{chapt:intro}INTRODUCTION AND THEORETICAL BACKGROUND} |
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The techniques used in the course of this research fall under the two |
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\label{introEq:EulerRotMat} |
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\end{equation} |
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\begin{figure} |
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\centering |
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\includegraphics[width=\linewidth]{eulerRotFig.eps} |
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\caption[Euler rotation of Cartesian coordinates]{The rotation scheme for Euler angles. First is a rotation of $\phi$ about the $z$ axis (blue rotation). Next is a rotation of $\theta$ about the new $x\prime$ axis (green rotation). Lastly is a final rotation of $\psi$ about the new $z\prime$ axis (red rotation).} |
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\label{introFig:eulerAngles} |
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\end{figure} |
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The equations of motion for Euler angles can be written down |
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as\cite{allen87:csl} |
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\begin{align} |
