<< rts_c_tr2rpy Robotics_Toolbox rts_c_xyz2tr >>

Robotics_Toolbox >> Robotics_Toolbox > rts_c_tr2zyz

rts_c_tr2zyz

Convert homogeneous transform to Euler angles

Calling Sequence

EUL = rts_c_tr2zyz(TR, OPTIONS)

Parameters

OPTIONS = 'deg' :

compute angles in degrees (radians default)

Description

EUL = RTS_C_TR2ZYZ(TR, OPTIONS) are the ZYZ Euler angles expressed as a row vector corresponding to the rotational part of a homogeneous transform TR. The 3 angles EUL=[PHI,THETA,PSI] correspond to sequential rotations about the Z, Y and Z axes respectively.

EUL = RTS_C_TR2ZYZ(R, OPTIONS) are the ZYZ Euler angles expressed as a row vector corresponding to the orthonormal rotation matrix R.

If R has (3*n) columns or T has (4*n) columns, they are interpreted as a trajectory of n elements. Each row of EUL corresponds to a step of the trajectory.

Notes

See also

Authors


Report an issue
<< rts_c_tr2rpy Robotics_Toolbox rts_c_xyz2tr >>