DCM2EA: Convert from Direction Cosine Matrix to Euler Angles

Description Usage Arguments Details Value Author(s) References See Also Examples

Description

DCM2EA converts from Direction Cosine Matrix (DCM) to Euler Angles (EA).

Usage

1
2
DCM2EA(DCM, EulerOrder='zyx', tol = 10 * .Machine$double.eps, ichk = FALSE, 
ignoreAllChk = FALSE)

Arguments

DCM

Direction Cosine Matrix (DCM) is a rotation matrix 3x3 (N=1) or an array 3x3xN

EulerOrder

Euler Angles (EA) is a vector [psi, theta, phi]

tol

Tolerance from deviations from unity for the determinant of rotation matrices or the the vector length for unitary vectors.

ichk

Logical, FALSE=disables near-singularity warnings.

ignoreAllChk

Logical, TRUE=disables all warnings and error checks (use with caution!).

Details

Euler Angles (EA) xyz <=> x(roll) y(pitch) z(yaw) Type 1 Rotations (Tait-Bryan angles): xyz - xzy - yxz - yzx - zyx - zxy Singular if second rotation angle is -90 or 90 degrees. Type 2 Rotations (proper Euler angles): xyx - xzx - yxy - yzy - zxz - zyz Singular if second rotation angle is 0 or 180 degrees.

Euler angles [psi, theta, phi] range from -90 to 90 degrees. Tait-Bryan angles [psi, theta, phi] range from 0 to 180 degrees. Angles about Euler vectors range from 0 to 180 degrees.

Value

Euler Angles (EA) vector [psi, theta, phi]

Author(s)

Jose Gama

References

by John Fuller, 14 Jul 2008 SpinCalc, Function to Convert between DCM, Euler angles, Quaternions, and Euler vectors. http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm–euler-angles–quaternions–and-euler-vectors

Paolo de Leva, 01 May 2013 SpinConv, Conversion from a rotation representation type to another. http://www.mathworks.com/matlabcentral/fileexchange/41562-spinconv

See Also

EA2DCM

Examples

1
2
3
DCM <- matrix(c(-0.3573404, -0.1515663, 0.9215940, 0.6460385, 0.6724915, 
0.3610947, -0.6744939, 0.7244189, -0.1423907),3,3,byrow=TRUE)
DCM2EA(DCM,'xyz')


Search within the RSpincalc package
Search all R packages, documentation and source code

Questions? Problems? Suggestions? or email at ian@mutexlabs.com.

Please suggest features or report bugs with the GitHub issue tracker.

All documentation is copyright its authors; we didn't write any of that.