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tr2zyz

Convert homogeneous transform to Euler angles

Calling Sequence

EUL = tr2zyz(TR, OPTIONS)
EUL = tr2zyz(TR, OPTIONS)

Parameters

OPTIONS = 'deg' :

compute angles in degrees (radians default)

Description

EUL = 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 = TR2ZYZ(R, OPTIONS) are the ZYZ Euler angles expressed as a row vector corresponding to the orthonormal rotation matrix R.

If R or T represents a trajectory (has 3 dimensions), then each row of EUL corresponds to a step of the trajectory.

Notes

See also

Authors


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