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zyz2tr

Euler angles to homogeneous transform

Calling Sequence

TR = ZYZ2TR(PHI, THETA, PSI, OPTIONS)
TR = ZYZ2TR(EUL, OPTIONS)

Description

TR = ZYZ2TR(PHI, THETA, PSI, OPTIONS) is a homogeneous transformation equivalent to the specified Euler angles. These correspond to rotations about the Z, Y, Z axes respectively. If PHI, THETA, PSI are column vectors then they are assumed to represent a trajectory and R is a three dimensional matrix, where the last index corresponds to rows of PHI, THETA, PSI.

TR = ZYZ2TR(EUL, OPTIONS) as above but the Euler angles are taken from consecutive columns of the passed matrix EUL = [PHI THETA PSI].

Options

'deg' :

Compute angles in degrees (radians default)

'c' :

Computes TR by means of a compiled c-function (faster)

Notes

See also

Authors


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