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tr2eul

Convert homogeneous transform to Euler angles

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.

Options

'deg' Compute angles in degrees (radians default)

Notes

See also

eul2tr, tr2rpy


 

© 1990-2011 Peter Corke.