Euler angles to homogeneous transform
TR = EUL2TR(ALPHA, BETA, GAMMA, OPTIONS) TR = EUL2TR(ANG, OPTIONS)
Compute angles in degrees (radians default)
Execute the compiled version of the algorithm (rts_c_eul2tr)
TR = 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 = 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. By specifying option c, the homogeneous transformation matrices are evaluated by means of "rts_c_eul2tr" (a compiled version of the same algorithm) and the output is given through a 4x4xn hypermatrix. Function "rts_c_tr2eul" can be alternatively used.