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Help euler2rotmat
Make a rotation (or direction cosine) matrix of sets of Euler angles
Syntax
Q = euler2rotmat(p,r,h) % Matlab & Octave
or
Q = euler2rotmat(prh) % Matlab & Octave, where prh is a three-column matrix with p, r, h each as column vectors
Q <- euler2rotmat(p, r, h) # R
Description
Make a rotation (or direction cosine) matrix out of sets of Euler angles, pitch, roll, and heading.
Inputs
| Input var | Description | Units | Default value |
|---|---|---|---|
| p | is the pitch angle | radians | N/A |
| r | is the roll angle | radians | N/A |
| h | is the heading or yaw angle | radians | N/A |
| [p,r,h] | (only in Octave/Matlab)a three column matrix consisting of p, r, and h as column vectors | radians | N/A |
Outputs
| Output var | Description | Units |
|---|---|---|
| Q | contains one or more 3×3 rotation matrices. If p, r, and h are all scalars, Q is a 3×3 matrix, Q = H*P*R where H, P and R are the cannonical rotation matrices corresponding to the yaw, pitch and roll rotations, respectively. To rotate a vector or matrix of triaxial measurements, pre-multiply by Q. If p, r or h contain multiple values, Q is a 3-dimensional matrix with size 3x3xn where n is the number of Euler angle triples that are input. To access the k'th rotation matrix in Q use squeeze(Q(:,:,k)) in Octave/Matlab, and drop(Q[,,k]) in R. |
Notes & assumptions
- p, r and h must either be the same size vectors (i.e., all sampled at the same rate) or one or more of p, r or h can be a scalar in which case the same angle is used for all
- If p, r, and h are all scalars, Q is a 3×3 matrix, Q = H*P*R where H, P and R are the cannonical rotation matrices corresponding to the yaw, pitch and roll rotations, respectively. To rotate a vector or matrix of triaxial measurements, pre-multiply by Q. If p, r or h contain multiple values, Q is a 3-dimensional matrix with size 3x3xn where n is the number of Euler angle triples that are input. To access the k'th rotation matrix in Q use squeeze(Q(:,:,k)).
Example
Matlab & Octave
Q = euler2rotmat([22 -22 85]*pi/180)
Q = [0.080809 -0.911425 -0.403453
0.923656 0.220605 -0.313358
0.374607 -0.347329 0.859670]
R
vec1 <- matrix(c(1:10), nrow = 10)
vec2 <- matrix(c(11:20), nrow = 10)
vec3 <- matrix(c(21:30), nrow = 10)
Q <- euler2rotmat(p = vec1, r = vec2, h = vec3)
Q = matrix(c(-0.2959394, -0.4645966, -0.834607648,
0.4520470, 0.7015905, -0.550839682,
0.8414710, -0.5402970, 0.002391215), byrow = TRUE, nrow = 3)
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bugs@animaltags.org Last modified: 15 May 2017