q = [\begin{matrix} q_{w} \\ q_{x} \\ q_{y} \\ q_{z} \end{matrix}] = [\begin{matrix} \cos (\frac{β}{2}) \cos (\frac{γ}{2}) \cos (\frac{α}{2}) - \sin (\frac{β}{2}) \sin (\frac{γ}{2}) \sin (\frac{α}{2}) \\ \sin (\frac{β}{2}) \cos (\frac{γ}{2}) \cos (\frac{α}{2}) - \cos (\frac{β}{2}) \sin (\frac{γ}{2}) \sin (\frac{α}{2}) \\ \cos (\frac{β}{2}) \sin (\frac{γ}{2}) \cos (\frac{α}{2}) + \sin (\frac{β}{2}) \cos (\frac{γ}{2}) \sin (\frac{α}{2}) \\ \cos (\frac{β}{2}) \cos (\frac{γ}{2}) \sin (\frac{α}{2}) + \sin (\frac{β}{2}) \sin (\frac{γ}{2}) \cos (\frac{α}{2}) \end{matrix}]