M-File Help: eul2tr | View code for eul2tr |
Convert Euler angles to homogeneous transform
T = eul2tr(phi, theta, psi, options) is a SE(3) homogeneous transformation matrix (4x4) equivalent to the specified Euler angles. These correspond to rotations about the Z, Y, Z axes respectively. If phi, theta, psi are column vectors (Nx1) then they are assumed to represent a trajectory and R is a three-dimensional matrix (4x4xN), where the last index corresponds to rows of phi, theta, psi.
T = eul2tr(eul, options) as above but the Euler angles are taken from consecutive columns of the passed matrix eul = [phi theta psi]. If eul is a matrix (Nx3) then they are assumed to represent a trajectory and T is a three-dimensional matrix (4x4xN), where the last index corresponds to rows of eul which are assumed to be [phi, theta, psi].
'deg' | Compute angles in degrees (radians default) |
© 1990-2014 Peter Corke.