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eul2r

Euler angles to rotazion matrix

Calling Sequence

R = EUL2R(ALPHA, BETA, GAMMA, OPTIONS)
R = EUL2R(ANG, OPTIONS)

Parameters

OPTIONS = 'deg' :

Compute angles in degrees (radians default)

Description

R = EUL2R(ALPHA, BETA, GAMMA, OPTIONS) is a rotation matrix 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 R is 3x(3*n) matrix, where n is the length of vectors ALPHA, BETA, GAMMA.

TR = EUL2R(ANG, OPTIONS) as above but the mobile angles are taken from consecutive columns of matrix ANG = [ALPHA, BETA, GAMMA].

Notes

See also

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