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Robotics_Toolbox >> Robotics_Toolbox > tr2eul

tr2eul

Convert homogeneous transform or rotation matrix to alpha-beta-gamma Euler angles (XYZ rotations)

Calling Sequence

EUL = tr2eul(TR, OPTIONS)
EUL = tr2eul(R, OPTIONS)

Parameters

OPTIONS = 'deg' :

compute angles in degrees (radians default)

OPTIONS = 'c' :

Execute the compiled version of the algorithm (rts_c_tr2eul)

Description

EUL = TR2EUL(TR, OPTIONS) are the Euler angles expressed as a row vector corresponding to the rotational part of a homogeneous transform TR. The 3 angles EUL=[ALPHA, BETA, GAMMA] correspond to sequential rotations about the X, Y and Z mobile axes (Euler angles) respectively.

EUL = TR2EUL(R, OPTIONS) are the 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 RPY corresponds to a step of the trajectory.

Notes

See also

Authors


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