<< eul2r Robotics_Toolbox ishomog >>

Robotics_Toolbox >> Robotics_Toolbox > eul2tr

eul2tr

Euler angles to homogeneous transform

Calling Sequence

TR = EUL2TR(ALPHA, BETA, GAMMA, OPTIONS)
TR = EUL2TR(ANG, OPTIONS)

Parameters

OPTIONS = 'deg' :

Compute angles in degrees (radians default)

OPTIONS = 'c' :

Execute the compiled version of the algorithm (rts_c_eul2tr)

Description

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].

Notes

See also

Authors


Report an issue
<< eul2r Robotics_Toolbox ishomog >>