Vibrissal array parameters.

Ellipsoid orientation angles of the mystacial pad (θmp φmp, and ψmp) are Euler angles. Base point position angles of the whiskers (θBP and φBP) are in spherical coordinates relative to the mystacial ellipsoid reference frame. Whisker orientation angles are projection angles, with the exception of ζ, which is the angle about the whisker's own axis. mp – mystacial pad, BP – base-point.
amodeled as an ellipsoid,
bmodeled as a parabola,
crelative to mystacial ellipsoid.