Hyperbolic triangle the third angle. The triangle where two vertices are ideal points and the remaining angle is right, one of the first hyperbolic triangles (1818) described by Ferdinand Karl Schweikart. The triangle where all vertices are ideal points, an ideal triangle is the largest possible triangle in hyperbolic geometry because of the zero sum of the angles. The relations among the angles and sides are analogous to those of spherical trigonometry; the length scale for both spherical geometry and hyperbolic geometry can for example be defined as the length of a side of an equilateral triangle with fixed angles. The length
Euler angles elements of a rotation matrix are not all completely independent. For example, the rotation matrix in dimension 2 has only one degree of freedom, since all four of its elements depend on a single angle of rotation. A rotation matrix in dimension 3 (which has nine elements) has three degrees of freedom, corresponding to each independent rotation, for example by its three Euler angles or a magnitude one (unit) quaternion. In SO(4) the rotation matrix is defined by two quaternions, and is therefore 6-parametric (three degrees of freedom for every quaternion). The rotation matrices have therefore 6 out of 16