Euler angles to homogeneous transform
TR = RTS_C_EUL2TR(ALPHA, BETA, GAMMA, OPTIONS) TR = RTS_C_EUL2TR(ANG, OPTIONS)
Compute angles in degrees (radians default)
TR = RTS_C_EUL2TR(ALPHA, BETA, GAMMA, OPTIONS) is a homogeneous transformation equivalent to rotations about the X, Y, Z mobile axes respectively (Euler Angles). The rotation matrix is evaluated as follows:
R = Rx(ALPHA)*Ry(BETA)*Rx(GAMMA).
If ALPHA, BETA, GAMMA are column vectors then they are assumed to represent a trajectory and TR is 4x(4*n) matrix, where n is the length of vectors ALPHA, BETA, GAMMA.
TR = RTS_C_EUL2TR(ANG, OPTIONS) as above but the mobile angles are taken from consecutive columns of matrix ANG = [ALPHA, BETA, GAMMA].
Vectors ALPHA, BETA, GAMMA 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 ALPHA, BETA, GAMMA. If the desired output must be contained into a hypermatrix of dimension 4x4xn, function eul2tr can be alternatively used (by specifying options 'c').