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rts_c_eul2tr

Euler angles to homogeneous transform

Calling Sequence

TR = RTS_C_EUL2TR(ALPHA, BETA, GAMMA, OPTIONS)
TR = RTS_C_EUL2TR(ANG, OPTIONS)

Parameters

OPTIONS = 'deg' :

Compute angles in degrees (radians default)

Description

TR = RTS_C_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 = RTS_C_EUL2TR(ANG, OPTIONS) as above but the mobile angles are taken from consecutive columns of matrix ANG = [ALPHA, BETA, GAMMA].

Notes

See also

Authors


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