eulerzyx: Create an orientation using Euler angles

In orientlib: Support for Orientation Data

Description

Creates an eulerzyx-class object.

Usage

eulerzyx(psi, theta, phi)

Arguments

psi	Rotation about Z axis
theta	Rotation about Y axis
phi	Rotation about X axis

Details

The rotations are expressed in radians and applied in the order Z, Y, X.

If theta and phi are missing, psi is taken to be an n x 3 matrix (or 3 element vector) holding all 3 Euler angles; alternatively, any orientation object may be used.

Value

An eulerzyx-class object.

Author(s)

Duncan Murdoch

See Also

eulerzyx-class, rotmatrix, rotvector, quaternion, skewvector, skewmatrix

Examples

x <- eulerzyx(c(1,0,0), c(0,1,0), c(0,0,1))
x
rotmatrix(x)

Example output

An object of class "eulerzyx"
Slot "x":
     psi theta phi
[1,]   1     0   0
[2,]   0     1   0
[3,]   0     0   1

An object of class "rotmatrix"
Slot "x":
, , 1

           [,1]      [,2] [,3]
[1,]  0.5403023 0.8414710    0
[2,] -0.8414710 0.5403023    0
[3,]  0.0000000 0.0000000    1

, , 2

          [,1] [,2]       [,3]
[1,] 0.5403023    0 -0.8414710
[2,] 0.0000000    1  0.0000000
[3,] 0.8414710    0  0.5403023

, , 3

     [,1]       [,2]      [,3]
[1,]    1  0.0000000 0.0000000
[2,]    0  0.5403023 0.8414710
[3,]    0 -0.8414710 0.5403023

orientlib documentation built on July 1, 2020, 6:09 p.m.