M-File Help: tr2eul | View code for tr2eul |
Convert homogeneous transform to Euler angles
eul = tr2eul(T, options) are the ZYZ Euler angles expressed as a row vector corresponding to the rotational part of a homogeneous transform T. The 3 angles eul=[PHI,THETA,PSI] correspond to sequential rotations about the Z, Y and Z axes respectively.
eul = tr2eul(R, options) are the ZYZ Euler angles expressed as a row vector corresponding to the orthonormal rotation matrix R.
If R or T represents a trajectory (has 3 dimensions), then each row of eul corresponds to a step of the trajectory.
'deg' | Compute angles in degrees (radians default) |
© 1990-2012 Peter Corke.