# Question about constraints

**URL:** <https://community.drivendata.org/t/question-about-constraints/10550>\
**Category:** NASA Pose Bowl\
**Created:** [March 20, 2024, 6:44pm UTC](https://community.drivendata.org/t/question-about-constraints/10550 "2024-03-20T18:44:01Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![hackspiel](https://avatars.discourse-cdn.com/v4/letter/h/54ee81/32.png) [@hackspiel](https://community.drivendata.org/u/hackspiel)\
**Post date:** [March 20, 2024, 6:44pm UTC](https://community.drivendata.org/t/question-about-constraints/10550/1 "2024-03-20T18:44:01Z")

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Hi,

the problem description states that the chaser camera rotates a maximum of 30 degrees between images. Does the 30 degrees refer to the rotation of the individual axes (xyz) or what do they refer to?

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**Author:** ![jayqi](https://yyz2.discourse-cdn.com/flex028/user_avatar/community.drivendata.org/jayqi/32/924_2.png) [@jayqi](https://community.drivendata.org/u/jayqi)\
**Post date:** [March 20, 2024, 10:17pm UTC](https://community.drivendata.org/t/question-about-constraints/10550/2 "2024-03-20T22:17:23Z")

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Hi @hackspiel,

The “rotation” here refers to the angular displacement of a single rotation about a fixed axis. In 3D space, any rotation is always around a single axis of rotation, which may have any spatial orientation. This is called the [“axis–angle representation”](https://en.wikipedia.org/wiki/Axis%E2%80%93angle_representation) of a rotation.

In general, one may represent a rotation as three sequential rotations about a fixed set of Cartesian x-y-z axes (often called [“Euler angles”](https://en.wikipedia.org/wiki/Euler_angles)). However, according to [Euler’s rotation theorem](https://en.wikipedia.org/wiki/Euler%27s_rotation_theorem), any sequence of rotations in 3D space can always be equivalently represented by a single rotation about some fixed axis.