Euler angles to homogeneous transform
TR = RTS_C_ZYZ2TR(PHI, THETA, PSI, OPTIONS) TR = RTS_C_ZYZ2TR(EUL, OPTIONS)
Compute angles in degrees (radians default)
TR = RTS_C_ZYZ2TR(PHI, THETA, PSI, OPTIONS) is a homogeneous transformation equivalent to the specified Euler angles. These correspond to rotations about the Z, Y, Z axes respectively. If PHI, THETA, PSI are column vectors then they are assumed to represent a trajectory and R is a three dimensional matrix, where the last index corresponds to rows of PHI, THETA, PSI.
TR = RTS_C_ZYZ2TR(EUL, OPTIONS) as above but the Euler angles are taken from consecutive columns of the passed matrix EUL = [PHI THETA PSI].
Vectors PHI, THETA, PSI must be of the same length.
The translational part is zero.
The output is contained into a 4x(4*n) matrix, where n is the length of vectors PHI, THETA, PSI. Function zyz2tr can be alternatively used (by specifying options 'c') if the desired output must be contained into a hypermatrix of dimension 4x4xn.