# DCM2EV: Convert from Direction Cosine Matrix to Euler Vectors In RSpincalc: Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors

## Description

`DCM2EV` converts from Direction Cosine Matrix (DCM) to Euler Vectors (EV).

## Usage

 `1` ```DCM2EV(DCM, 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. `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!).

## Value

Euler Vectors (EV) vector [m1, m2, m3, MU]

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

`EV2DCM`

## 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) DCM2EV(DCM) ```

### Example output

```          [,1]       [,2]       [,3]     [,4]
[1,] 0.5823994 -0.1804289 -0.7926262 3.895864
```

RSpincalc documentation built on May 2, 2019, 10:59 a.m.