EA2DCM: Convert from Euler Angles to Direction Cosine Matrix

In RSpincalc: Conversion Between Attitude Representations of DCM, Euler Angles, Quaternions, and Euler Vectors

Description

EA2DCM converts from Euler Angles (EA) to Direction Cosine Matrix (DCM).

Usage

EA2DCM(EA, EulerOrder='zyx', tol = 10 * .Machine$double.eps, ichk = FALSE, 
ignoreAllChk = FALSE)

Arguments

EA	Euler Angles (EA) vector [psi, theta, phi].
EulerOrder	Euler Order (xyx, yzy, zxz, xzx, yxy, zyz, xyz, yzx, zxy, xzy, yxz, zyx)
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

Direction Cosine Matrix (DCM) 3x3xN.

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

DCM2EA

Examples

EAxyx <- c(-170.6607, 110.937, 136.2344) * (pi/180)
EA2DCM(EAxyx,'xyx')

Example output

           [,1]       [,2]       [,3]
[1,] -0.3573412 -0.1515659  0.9215937
[2,]  0.6460388  0.6724910  0.3610951
[3,] -0.6744932  0.7244195 -0.1423913

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