<< zyz2jac Robotics_Toolbox zyz2tr >>

Robotics_Toolbox >> Robotics_Toolbox > zyz2r

zyz2r

Euler angles to rotation matrix

Calling Sequence

R = zyz2r(PHI, THETA, PSI, OPTIONS)
R = zyz2r(EUL, OPTIONS)

Parameters

OPTIONS,'deg' :

Compute angles in degrees (radians default)

Description

R = ZUZ2R(PHI, THETA, PSI, OPTIONS) is an orthonornal rotation matrix 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.

R = ZYZ2R(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
<< zyz2jac Robotics_Toolbox zyz2tr >>