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Robotics_Toolbox >> Robotics_Toolbox > zyz2jac

zyz2jac

Euler angle rate Jacobian

Calling Sequence

J = ZYZ2JAC(EUL)
J = ZYZ2JAC(PHI, THETA, PSI)

Description

J = ZYZ2JAC(EUL) is a Jacobian matrix (3x3) that maps Euler angle rates to angular velocity at the operating point EUL=[PHI, THETA, PSI].

J = ZYZ2JAC(PHI, THETA, PSI) as above but the Euler angles are passed as separate arguments.

Notes

See also

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