eulerzyx: Create an orientation using Euler angles In orientlib: Support for Orientation Data

Description

Creates an `eulerzyx-class` object.

Usage

 `1` ```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

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

Examples

 ```1 2 3``` ```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.