Hyperbolic triangle relations between the sides "s" and the angles "A" of an equilateral triangle (a triangle where all sides have the same length and all angles are equal). The relations are: Whether "C" is a right angle or not, the following relationships hold: The hyperbolic law of cosines is as follows: Its dual theorem is There is also a "law of sines": and a four-parts formula: For hyperbolic trigonometry: Hyperbolic triangle In hyperbolic geometry, a hyperbolic triangle is a triangle in the hyperbolic plane. It consists of three line segments called "sides" or "edges" and three points called "angles" or "vertices".
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