四元数 欧拉角 万向锁

https://en.wikipedia.org/wiki/Gimbaled_freedom

http://www.cnblogs.com/soroman/archive/2006/10/11/526163.html

http://www.cnblogs.com/soroman/archive/2008/03/24/1118996.html

http://www.cnblogs.com/soroman/archive/2006/09/19/509597.html

http://ericyang1231.blog.163.com/blog/static/7374779320098314133721/

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