<< rts_c_xyz2tr Robotics_Toolbox skew >>

Robotics_Toolbox >> Robotics_Toolbox > rts_c_zyz2tr

rts_c_zyz2tr

Euler angles to homogeneous transform

Calling Sequence

TR = RTS_C_ZYZ2TR(PHI, THETA, PSI, OPTIONS)
TR = RTS_C_ZYZ2TR(EUL, OPTIONS)

Parameters

OPTIONS = 'deg' :

Compute angles in degrees (radians default)

Description

TR = RTS_C_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 = RTS_C_ZYZ2TR(EUL, OPTIONS) as above but the Euler angles are taken from consecutive columns of the passed matrix EUL = [PHI THETA PSI].

Notes

See also

Authors


Report an issue
<< rts_c_xyz2tr Robotics_Toolbox skew >>