Introduce configuration coordinates to describe the configuration of the body observer relative to the world observer.
Use the Cartesian coordinates of the reference point of the body observer relative to the coordinate system with origin at the reference point of the world observer and coordinate axes parallel to the basis vectors of the world reference triad to describe the position of the body observer relative to the world observer.
Use the Euler angles corresponding to a 3-1-3 sequence of rotations to describe the orientation of the body observer relative to the world observer.
In the MAMBO toolbox, type
>DefinePoints(W,B,w,q1,q2,q3);
>DefineTriads(w,b,[q4,3],[q5,1],[q6,3]);
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