| EA2EV {RSpincalc} | R Documentation |
Convert from Euler Angles to Euler Vectors
Description
EA2EV converts from Euler Angles (EA) to Euler Vectors (EV).
Usage
EA2EV(EA, EulerOrder='zyx', tol = 10 * .Machine$double.eps, ichk = FALSE,
ignoreAllChk = FALSE)
Arguments
EA |
Euler Angles (EA) vector [psi, theta, phi]. |
EulerOrder |
Euler Order (xyx, yzy, zxz, xzx, yxy, zyz, xyz, yzx, zxy, xzy, yxz, zyx) |
tol |
Tolerance from deviations from unity for the determinant of rotation matrices or the the vector length for unitary vectors. |
ichk |
Logical, FALSE=disables near-singularity warnings. |
ignoreAllChk |
Logical, TRUE=disables all warnings and error checks (use with caution!). |
Details
Euler Angles (EA) xyz <=> x(roll) y(pitch) z(yaw) Type 1 Rotations (Tait-Bryan angles): xyz - xzy - yxz - yzx - zyx - zxy Singular if second rotation angle is -90 or 90 degrees. Type 2 Rotations (proper Euler angles): xyx - xzx - yxy - yzy - zxz - zyz Singular if second rotation angle is 0 or 180 degrees.
Euler angles [psi, theta, phi] range from -90 to 90 degrees. Tait-Bryan angles [psi, theta, phi] range from 0 to 180 degrees. Angles about Euler vectors range from 0 to 180 degrees.
Value
Euler Vectors (EV) vector [m1, m2, m3, MU].
Author(s)
Jose Gama
References
by John Fuller, 14 Jul 2008 SpinCalc, Function to Convert between DCM, Euler angles, Quaternions, and Euler vectors. http://www.mathworks.com/matlabcentral/fileexchange/20696-function-to-convert-between-dcm–euler-angles–quaternions–and-euler-vectors
Paolo de Leva, 01 May 2013 SpinConv, Conversion from a rotation representation type to another. http://www.mathworks.com/matlabcentral/fileexchange/41562-spinconv
See Also
Examples
EAxyx <- c(-170.6607, 110.937, 136.2344) * (pi/180)
EA2EV(EAxyx,'xyx')